3 DOF Upper Limb Rehabilitation Robot- Assisted Training System

Hemiplegia is the most common performance of stroke. In order to assist the recovery of upper limb hemiplegia patients, the author developed a 3-DOF upper limb rehabilitation robot system based on the technology of Virtual Reality. The system can help patients to complete the shoulder movements of abduction/adduction, flexion/ extension and the elbow movement of flexion/extension. The paper expounded the structure of the robot and conducted the kinematics analysis of the robot mechanism. A computer and a digital signal processor (DSP) constitute the control center of the system. Absolute encoders collect the information of robot motion and magnetic powder brakes complete the braking and loading processes. We have exploited Windows GDI and OpenGL to construct a virtual reality environment on the platform of Visual C++. Experiments show that the system can achieve both linear and compound motions easily, and reach the requirements of design. The introduction of the technology of Robot and Virtual Reality into the field of rehabilitation has provided a scientific and effective recovery mode for patients.