Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot

The upper limb exoskeleton rehabilitation robot can realize the partial functional compensation of and complete various types training for each joint limb. However, existing robots are lack flexible reconfigurability, which difficult to meet diversified patient objects needs, have some problems, such as insufficient motion compliance, poor portability, wearing comfort. To effectively solve above problems improve effect training, this project plans carry out following research: Firstly, analyze structural characteristic movement mechanism limb, clarify configuration theory modular with reconfigurable, design optimize form parameters reconfigurable robot. Secondly, based on perspective rigid–flexible coupling integration bone–muscle–robot, integrated equivalent model is constructed dynamics established plan compliance develop intelligent control strategy. Finally, simulation experimental platform built demonstration training. implementation study will provide new idea method realizing flexible, light, comfortable