With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper describes a novel upper limb exoskeleton rehabilitation device (ULERD) based on biomechanics, which can be used in rehabilitation of upper limb for hemiparalysis patients. This system is aimed at helping hemiparalysis patients recover motor function of upper limb and are suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, haptic device (PHANTOM Premium), and computer. By using finite element software ANSYS, biomechanics influence of the exoskeleton device on the patient's upper limb in the rehabilitation training is explored. Based on it, the device can be optimization design to be cylindrical type and the activity angle range of the elbow joint of exoskeleton device is proposed from 30° to 90° in the training. These experiment results demonstrate this system that can prove an advance rehabilitation approach for hemiparalysis patients and the biomechanics impact of exoskeleton device should be reduced. In the future, this system will have a bright application prospect in the rehabilitation therapy field.
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