Design and Development of a Prototype Upper-limb Rehabilitation Robot Based on Multi-body Dynamics Analysis

The nerve plexus damage of the upper limb provokes the disability of patients and makes a drastic impact both mentally and physically. Therefore, rehabilitation treatments for patients are indispensable. This study focuses on developing a 3-axis rehabilitation robot with targets including the geometric design of body structure, mathematical modeling of the multi-axis mechanism, the multi-body dynamic analysis, the selection of mechatronic systems, and the assembling and solid test of the rehabilitation robot. Through the precedent design, analysis, and simulation using software, the specification and performance can be ensured in advance. The realized rehabilitation robot is quickly developed with a further professional evaluation of the rehabilitating movements. Thus, the most suitable rehabilitating movement for patients can be achieved to enhance the effectiveness of the rehabilitation treatment.