Development of a rehabilitation robot for upper-limb movements

This paper analyzes the kinematics of human upper-arm and develops a 6DOF exoskeleton upper-limb hemiplegic rehabilitation training robot. It describes the mechanical structure and implementation function of each module of the robot system, and it also describes a design for the movement data collection. The robot can assist the patient's upper-limb to do active movement training which simultaneously involves multiple joints and a total of 7DOF of human upper-limb, that is, shoulder flexion/extension, shoulder abduction/adduction, shoulder internal rotation/external rotation, elbow flexion/extension, forearm supination/pronation, wrist extension/flexion and wrist ulnar deviation/radial deviation