Mechanical design of a whole-arm exoskeleton rehabilitation robot based on PNF

A whole-arm exoskeleton rehabilitation robot based on PNF is presented in this paper for treating dyskinesia. This robot includes an arm exoskeleton rehabilitation robot(6-DoF) and a hand exoskeleton rehabilitation robot(6-DoF), which can achieve comprehensive rehabilitation training for shoulder, elbow, wrist and fingers. A finite element analysis has been finished for security of this structure, which is designed by rehabilitation medicine and man machine engineering. The forward kinematics solution model has been presented by calculation and validated by simulation for control in future.