Paper Title:
Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis
  Abstract

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

  Info
Periodical
Edited by
Honghua Tan
Pages
293-298
DOI
10.4028/www.scientific.net/AMM.29-32.293
Citation
Z. Lan, Z. L. Li, Y. Li, "Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis", Applied Mechanics and Materials, Vols. 29-32, pp. 293-298, 2010
Online since
August 2010
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Price
$32.00
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