Design of a Desktop Upper Limb Rehabilitation Robot

In this paper, a six-degree-of-freedom desktop mobile rehabilitation robot for upper limb of stroke patients and a desktop interaction system in passive rehabilitation mode are designed to address the disadvantages of the current mechanical structure of the upper limb rehabilitation robot and its inconvenient use. The selection of the drive system and the structural design of each joint were completed to reduce the cost of the robot while ensuring the performance requirements. The kinematic mathematical model of the robot was established according to the D-H method. The motion of the robot was analyzed by the prototype experiment, which verified the correctness of the kinematic algorithm and met the expected design goals, and provided a reliable basis for the study of robot trajectory planning and control. The desktop interactive system in passive rehabilitation mode designed in this paper intensifies the training of each joint of the patient’s upper limb through good position control of the robot, which is conducive to increasing the enthusiasm of the patient’s participation in training and improving the rehabilitation training effect.