Task-Based Trajectory Planning for an Exoskeleton Upper Limb Rehabilitation Robot

摘要

Trajectory planning is one of important keys to insure more active effects when the patients do their training plan with an upper rehabilitation robot, especially with an exoskeleton one. However, an exoskeleton upper rehabilitation robot is hard to assist the patients without a motion plan target. This paper proposes a new approach to trajectory planning for an exoskeleton upper limb rehabilitation robot based on ADL training task. In this work, the ADL training task is summarized and analyzed in order to provide task target for the trajectory planning. A new exoskeleton upper limb rehabilitation robot is proposed and its kinematical model is deduced as the base of trajectory planning. A circle-task trajectory planning is analyzed based on the aforementioned work. In the end, an experiment is done to verify the results. Such motion pre-definition can make more clear training target for the patients. In the other words, an exact trajectory planning can help to promote the rehabilitation training effects.