An upper limb motion assist device for hemiplegic patients^*

摘要

Motor dysfunction of patients with hemiplegia limits their self-care ability and seriously affects their daily life. Population aging and increasing of stroke patients result in serious problems of limb motor dysfunction. As a kind of mobile robot, the electrical wheelchair with a robotic arm can assist the daily life and work of the elderly and hemiplegic patients, compensate for their weakened body functions. In this study, the motor-driven planar joint structure is used to build the upper-limb motion assist robotic arm platform; subsection speed control method is used to realize the movement of the robotic arm. Hemiplegic patients and the elderly can choose auxiliary movement mode and control the assistant robotic arm by voice interaction. The robotic arm for upper limb movement auxiliary provides three auxiliary modes, which are the task of single degree of freedom, auxiliary in motion plane and three-dimensional movement assistant, respectively. The assistant robotic arm can assist patients to move objects, flip books, eat, drink and do other common action of upper limb movement. It enables patients to enjoy medical services at home and assists in their daily activities, and is of great significance to improve the abilities of patients to live independently and reconstruct the function of their body movement.