Dynamic Analysis of Rehabilitative Arm Robot

Rehabilitative robot is a new technology that has been developed rapidly. The robot is used to rehabilitate patients whose arms are injured or have difficulty in movement. The robot can move the disable arm in both horizontal and vertical plane, and train the shoulder joint and elbow joint. The human arm is simplified to rigid bodies and rotors. The robot's structure and dynamics are analyzed. Including robot and human arm, the whole system's model is constructed under Matlab/simulink Mechanics. Dynamics characteristics simulations of the flexing joint and rotation joint are made separately. With different damp coefficient of arm joints, the angle and angle acceleration curve of the shoulder and elbow are given. Control simulations are made too. The simulation results reveal the effectiveness of the dynamic model and the rehabilitation robot can do effective trainings on illness joints.