Parallel Upper Limb Rehabilitation Robot and AnyBody Man-Machine Coupling Analysis

Neurorehabilitation robots are a crucial tool for facilitating rehabilitation training. This paper introduces a parallel upper limb neurorehabilitation robot designed for patients with upper limb motor disorders, providing efficient rehabilitation training. The robot is composed of a parallel five-bar mechanism, control motors, and an interactive screen, and includes both active and passive training functions. The Vicon motion capture system records the trajectory data of rehabilitation movements, which are used as the desired trajectories for passive training to ensure the effectiveness and appropriateness of the training movements. Additionally, the Vicon system, in conjunction with the AnyBody modeling software, is used to create a human-machine coupled model that simulates the patient's active training process. This model provides data on muscle changes during training, enabling a quantitative assessment of the movement process, which supports evaluations of the patient's rehabilitation status and motor capabilities.