Design and Kinematic Analysis of Parallel Wrist Rehabilitation Robot
The substantial increase in the number of stroke patients in China has brought a severe impact on patients'quality of life due to the lingering sequelae,particularly the loss of hand function,which imposes a significant burden on the society and the economy.Therefore,a parallel wrist rehabilitation robot with a highly integrated human-machine-environment systemhas been developed.This robot with excellent wearable comfort,load-bearing capacity,and motion precisionis capable of adapting to wrist joint misalignments.Based on the physiological and kinematic characteristics of the wrist joint,requirements of rehabilitation training,and wearability,a comprehensive configuration of the parallel wrist rehabilitation mechanism is accomplished,ultimately selecting the 2-SPU/RR parallel configuration.A prototype is developed with a compact structure,highmotion precision,and excellent support stiffness.A kinematic model of this parallel mechanism was established,and the analysis of operability,dexterity,stiffness,and kinematic performance are conducted.The results indicated that the parallel mechanism meets the DOFrequirements for rehabilitation exercises,providing smooth and uninterrupted motion within the rehabilitation range,without singular configurations,while also demonstrating good operability,dexterity,and isotropy.
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