Design and Research on Single-degree-of-freedom Upper Limb Rehabilitation Training Robot

A single-degree-of-freedom (SDOF) upper limb rehabilitation training robot was developed, aiming to facilitate the rehabilitation training of people with dyskinesia; this robot can realize the flexion movement of patients’ shoulder, elbow and wrist joints. Firstly, the angle range of upper limb flexion movement was determined according to the anatomical principle of the human upper limb. Secondly, a kinematics analysis of the upper limb rehabilitation training robot was performed to gain a motion relationship between the shoulder joint and elbow joint. Thirdly, based on the research on upper limb muscle force, the three-dimensional motion capture data was imported into Opensim software for analysis, so as to solve the muscle force of the human upper limb in the model and evaluate the muscle training of the upper limb. Finally, the results of the analysis show that the upper limb rehabilitation training robot can effectively assist in the upper limb flexion rehabilitation training, meet the rehabilitation needs of patients, and verify the accuracy of the proposed theoretical model.