Study on the Cable-Controlled Household Upper Limb Rehabilitation Robot

Purpose The paper is to design a cable-controlled household upper limb rehabilitation robot for the demands of home recovery to overcome the drawbacks of large size, transmission chains, and the driving noise. Methods The transmission system of cable and synchronous belt is used to carry out power transmission, and the motor drive equipment is uniformly placed on the base of the patients far away from the patients, and the overall structure design and 3d model are established. The overall scheme of the control system is designed, and the kinematics simulation analysis is carried out to ensure the rationality of the mechanical structure and the designed trajectory. The result and conclusion Finally, the experimental prototype is made, and the mechanical structure and design trajectory are verified.