Design and analysis of shoulder joint exoskeleton rehabilitation mechanism based on gear and rack transmission

Due to insufficient muscle strength, a novel rehabilitation mechanism of the shoulder joint exoskeleton is proposed and analyzed based on gear rack transmission, which solves problem that stroke patients need repetitive exercise training. First, range motion angle determined, mechanical structure designed. The arc engaged with output shaft reducer, servo motor utilized as driving force realize internal/external rotation movement joint. connects horizontal connecting rod rotating through cross roller bearing abduction/adduction flexion/extension Second, kinematics dynamics are analyzed, investigated, verified for mechanism. simulation analysis completed in virtual prototype. changes end trajectory moment time angular velocity under given working conditions obtained, directly reflect each Finally, aiming at nonlinear disturbance tracking control exoskeleton, approach achieved aided closed-loop PD iterative learning method. results demonstrate actual trajectories good agreement desired trajectories, can achieve effective improve quality system.