Current Status and Perspectives of Research on Upper Limb Rehabilitation Robots

摘要

The incidence of limb movement disorders in China has been increasing year by year with the occurrence of neurological injury diseases, and the rehabilitation training for the upper limb movement dysfunction, which occupies most of the daily activities, is particularly important, among which, the upper limb rehabilitation robot is a hotspot for clinical rehabilitation treatment. In this paper, we firstly summarise the current status of upper limb rehabilitation training robot research at home and abroad, elaborate its research progress and characteristics, and develop a six-degree-of-freedom upper limb rehabilitation training robot, which mainly focuses on the design and study of the mechanical system and control system of the robot. The robot has the advantages of simple calculation, easy implementation and strong adaptability of human-robot coordinated control method, which can reduce the system instability generated by the robot itself and the human-computer interaction process, and the mechanical vibration, offset and other insecurity factors generated by the nonlinear perturbation, which is of practical significance in the field of rehabilitation and medical treatment. Translated with www.DeepL.com/Translator(freeversion).