Driving Methods of the Upper Limb Rehabilitation Exoskeleton Robot

In recent years, the number of patients with hemiplegia has increased year by year, and the use of upper limb exoskeleton robot assisted treatment is a novel and efficient treatment method. With the continuous development of science and technology and medical level, the demand for upper limb rehabilitation exoskeleton robot is increasing, and the requirements are getting higher and higher, among which, the choice of drive mode, control mode and material are the technical focus of upper limb exoskeleton robot research. Different driving modes are used for different therapeutic purposes, treatment sites and treatment plans. According to the driving mode, the upper limb rehabilitation exoskeleton robot can be divided into three categories, namely, motor drive, pneumatic artificial muscle, hybrid drive, and motor drive is divided into PRP model drive, underdrive, Bowden line drive, and twisted rope drive. In this paper, the structure and principle of these driving methods are introduced respectively, their advantages and disadvantages are expounded, and the future development trend of the upper limb rehabilitation exoskeleton robot is prospected. So that scholars can better understand the development status of upper limb rehabilitation exoskeleton robot drive.