Biomechtronic design of a wearable upper dual-arm exoskeleton robot for lifting tasks

摘要

Robot technology is increasingly widely applied in medical field for rehabilitation, especially for the paralysis of stroke patients. In this paper, a new design concept of upper limb rehabilitation robot has been developed. The model is expected to perform three degrees of freedom that is rotation in horizontal and vertical planes. This system is of advantages in terms of light weight, dexterity size, and friendly interactive performance. Upper limb rehabilitative robot is able to simulate the motion of normal humans arm movements and to provide patients rehabilitative training to help them recover from illness. The proposed robot allows great freedom of movements of the operator.