Three Degrees of Freedom Associated Actions of Mechanical Exoskeletons Upper Shoulder Joint Design for Rehabilitation

Abstract

Nowadays, a lot of exoskeleton robots go into the clinic for hemiplegia rehabilitation, but the exoskeleton shoulder joint is not good to make the arms implement daily actions of living, such as drinking water and eating. In order to cater more to rehabilitation robots’ movements and the human body’s needs by analyzing motions of the model and the feasibility on the decomposition of coupling movement of shoulder joint, the DOF associated actions of the mechanical exoskeletons upper shoulder joint which is on the basis of the arc guide can realize all kinds of sports in the specified range. In the debugging, the shoulder joint can realize the expected movements after assembling, so the movements of exoskeleton shoulder joint for rehabilitation can be more in accordance with human body’s movements. And debugging results can support the product improvement later.