Structural Optimization and Motion Simulation of Robot of Shoulder Exoskeleton

Abstract

Stroke is a kind of acute cerebrovascular disease, its sequelae can lead to hemiplegia, great influence on their daily life, as the current increasing the hemiplegia patients caused by stroke, for patients with limb disorders long-term scientific recovery training, the traditional rehabilitation training is a professional medical staff for hand-in-hand rehabilitation training, it is difficult to meet the rehabilitation needs of the increasing number of patients, to provide a certain degree of help for this problem, shoulder exoskeleton robot was designed to add a telescopic rod structure to its original structure, allowing it to move up and down and realize the function of normal shoulder movement requirements, Solving and verify the forward and inverse motion by the D-H parameter method, The tion simulation of the robot using MATLAB, it observed no mutation in the position, speed and acceleration during the exercise, so as to verify the rationality and effectiveness of its workflow and meet the requirements of human shoulder rehabilitation training. The robot enables shoulder hemiplegia patients to achieve more diversified exercise while conducting normal shoulder rehabilitation training. However, the structure still has the problem that it cannot achieve synergistic movement, and it is difficult to perform other shoulder movements while they shrugged the shoulders.