Mechanical and hardware architecture of the semi-exoskeleton arm rehabilitation robot

摘要

This paper deals with mechanical and hardware design of a robot, used for the rehabilitation of upper extremities. It has been called ARR-1 (Arm Rehabilitation Robot). The robot has a semi-exoskeleton structure. This means that some parts of the robot fit closely to the human arm (an orthosis), but the weight of the construction does not load patienta€?s body. The device is used for the whole arm rehabilitation, but active joints are only situated in glenohumeral and elbow joints. The robot is electrically actuated