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As a new treatment method, the upper limb rehabilitation training robot can help stroke hemiplegic patients recover their upper limb motor function by providing repetitive exercises and other ways. In this paper, based on the background of bilateral rehabilitation training with pneumatic muscle-driven robot arm containing paw system, the key technology of benevolence is systematically studied, and a set of experimental system is designed to verify the research results in detail. The mechanism design of the humanoid multi-joint double-arm is completed by imitating the human arm. Pneumatic artificial muscles are used to drive the shoulder and elbow joints of the mechanical arm, and stepping motors are used to drive auxiliary motion joints. The designed mechanical arm has both flexibility and compactness in structure. This study provides a useful reference for improving the effectiveness of arm design of upper limb rehabilitation pneumatic muscle-driven robot, and is helpful to broaden the research ideas of upper limb rehabilitation robot.

Design and Control of Pneumatic Muscle-Driven Robot Arm Based on Bilateral Rehabilitation Training