Background: Wearable power assist robot is a new type of electromechanical integration device
designed to imitate the biological exoskeleton. The device can be worn by the user, providing the
user with body support, movement assistance and power-assisted functions. In recent years, patents
suggest that wearable assist robots have been widely used in the field of human limb rehabilitation. The
patients can use the robot to carry out effective functional rehabilitation training and achieve the goal of
promoting limb function recovery and improving activities of daily living.
Objective: Based on clinical rehabilitation medicine theory, and aiming at helping the patients with
hemiplegia, a 7-DOF wearable rehabilitation robot for an upper limb is designed.
Methods: Three-dimensional model of the rehabilitation robot is created in Pro/E. According to D-H
transformation, the kinematics model is established. Kinematics simulation is carried out by the Matlab
Results: Both of the forward and inverse analysis of kinematics are presented. The wrist centroid curves
of displacement, velocity and acceleration are obtained, respectively. The results prove that the movement
of the robot is smooth and the robot scheme is feasible.
Conclusion: The structure design and motion analysis process of the robot can provide a reference for
other wearable limb rehabilitation device.