A research on kinematic model of an exoskeleton robot for arm rehabilitation

Abstract

The trainning activities play an important role in rehabilitation
therapy for stroke patients. The application of robot in therapy helps
manage the accuracy of arm motion, eliminate the mistake beyond the
people and improve the therapy quality. This paper presents a
research on the designing kinematic architecture of rehabilitation
robot based on the human arm biomechanics. The robot architecture
alows the patent arm moving in the human space as well as following
the therapy exercises. Furthermore, the solution for the minimum jerk
is proposed to produce smoothertrajectory that is compatible with
human arm motions and biomechanics. The reseach results also can
serve as fundamentals for the robot motion control.