Adjustable Impedance Upper Limb Rehabilitation Exoskeleton Design

In order to solve the two existing problems in the upper limb rehabilitation exoskeleton, to achieve comfortable wearing of patients with different body types and adjustable impedance in active rehabilitation mode, an adjustable impedance upper limb rehabilitation exoskeleton was proposed. Firstly, a 7-degree-of-freedom adjustable impedance upper limb rehabilitation exoskeleton was designed. The exoskeleton uses ropes, pulleys and weight adjustment structures to realize adjustable impedance in active rehabilitation mode, and the shoulder height and upper limb length of the exoskeleton can be adjusted to achieve comfortable wearing for patients of different body types. Finally, the simulation analysis of the exoskeleton as a whole was carried out, and the simulation results were compared with the theoretical calculations, and the results showed that the exoskeleton could realize the resistance adjustment in the active rehabilitation mode and the comfortable wearing of patients of different body types, which verified the rationality and effectiveness of the robot design and met the requirements of human arm rehabilitation training.