English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

Abstract. The target of this paper is to design a lightweight upper limb rehabilitation robot with space training based on end-effector configuration and toevaluate the performance of the proposed mechanism. In order to implement this purpose, an equivalent mechanism to the human being upper limb isproposed before the design. Then, a 4 degrees of freedom (DOF) end-effector-based upper limb rehabilitation robot configuration is designed to help stroke patientsperform space rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Thereafter, itskinematical model is established together with the proposed equivalent upper limb mechanism. The Monte Carlo method is employed to establish theirworkspace. The results show that the overlap of the workspace between the proposed mechanism and the equivalent mechanism is 96.61 %. Inaddition, this paper also constructs a human–machine closed-chain mechanism to analyze the flexibility of the mechanism. According to the relativemanipulability and manipulability ellipsoid, the highly flexible area of the mechanism accounts for 67.6 %, and the mechanism is far away fromthe singularity on the drinking trajectory. In the end, the single-joint training experiments and a drinking water training trajectory planningexperiment are developed and the prototype is manufactured to verify it.

Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector