Abstract
This paper analyzes the kinematics of human upper-arm and develops a 6DOF exoskeleton upper-limb hemiplegic rehabilitation training robot. It describes the mechanical structure and implementation function of each module of the robot system, and it also describes a design for the movement data collection. The robot can assist the patient’s upper-limb to do active movement training which simultaneously involves multiple joints and a total of 7DOF of human upper-limb, that is, shoulder flexion/extension, shoulder abduction/adduction, shoulder internal rotation/external rotation, elbow flexion/extension, forearm supination/pronation, wrist extension/flexion and wrist ulnar deviation/radial deviation
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© 2012 Springer-Verlag Berlin Heidelberg
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Lv, C. et al. (2012). Development of a Rehabilitation Robot for Upper-Limb Movements. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_10
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DOI: https://doi.org/10.1007/978-3-642-33515-0_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33514-3
Online ISBN: 978-3-642-33515-0
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