Study of Co-Simulation of Rehabilitation Robot for Upper Limb Based on Virtual Prototype

Zhi Lan; Zhen Yan; Jian Jun Xu

doi:10.4028/www.scientific.net/AMR.712-715.2272

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 712-715Study of Co-Simulation of Rehabilitation Robot for...

Study of Co-Simulation of Rehabilitation Robot for Upper Limb Based on Virtual Prototype

Abstract:

A novel rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the software ADAMS and the software MATLAB/Simulink, the virtual prototype and the platform of co-simulation of mechanical-electrical system were set up. On the platform of co-simulation, the rehabilitation robots kinematics, dynamics and control have been simulated, and each joints kinematic parameters, torque can be obtained, and parameters of controller can be also confirmed. It offered reliance for the actual intellectual control of the rehabilitation robot.

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Periodical:

Advanced Materials Research (Volumes 712-715)

Pages:

2272-2276

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.712-715.2272

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Online since:

June 2013

Authors:

Zhi Lan, Zhen Yan, Jian Jun Xu

Keywords:

Co-Simulation, Dynamic, Rehabilitation Robot, Virtual Prototype

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References

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