Design and Development of an Advanced Upper Limb Rehabilitation Robot for Post-Stroke Rehabilitation

This research focuses on the design and development of an Upper Limb Rehabilitator (ULR) prototype, which aims to enhance stroke recovery. The study begins with a comprehensive review of existing upper limb rehabilitation robots such as the MIT-MANUS, ARMin, and the Robotic Rehabilitation Device (RRD). By analyzing ULR features and control systems, the research constructs a Product Design Specification (PDS) to guide the development of the ULR concept. To ensure structural integrity, governing equations are employed to calculate maximum stresses and safety factors for critical components. Material selection is based on these constraints, utilizing Ashby's plots, and validating the choices through finite element analysis (FEA) simulations. Upon fabrication, the ULR prototype underwent performance testing, demonstrating notable improvements over the RRD. It achieves increased shoulder adduction and abduction angles of 14° and 10°, respectively, and enables a broader range of motion, including arm rotation, shoulder flexion, and elbow flexion and extension in three-dimensional planes during ULR prototype testing. The research highlights the significance of the ULR prototype in advancing upper limb rehabilitation robotics. It offers a versatile and effective rehabilitation tool, particularly during the critical recovery window. The findings provide valuable insights into the design and development process of the ULR, and its superior capabilities in rehabilitation motion.