Design of a wearable upper-limb rehabilitation robot using parallel mechanism

This paper proposes a wearable rehabilitation robot for upper-limb paralysis. The rotation center of robot was matched to the user's joints by applying parallel mechanism. The robot has 3 degrees of freedom: index finger, three other fingers and wrist. The weight of robot was reduced by using artificial muscle. From the experimental result, we show the maximum extension angle of proximal phalange is 85deg and wrist is 90deg.