Kinematic analysis of hybrid exoskeleton robot with spherical joints for rehabilitation of upper limb in stroke affected patients

Abstract

The need for robots is increasing now-a-days in medically assisted treatment procedures. Robots can be used for upper limb and lower limb. Robots can be used for shoulder problems like illness, traumatic events and for exercise of the elderly persons. It can also be used for polio and arthritis patients. The robot can be made cost-effective, light weight and safe, and can be used for pre-determined and customized exercises also. Robots could perform full range of motions for shoulder, elbow, wrist and fingers. Robots can also be used in stroke affected patients. Robots can be used for training and rehabilitation in virtual environment. In these robots, virtual gamings are made possible during training and rehabilitation. There are also robots inspired based on mirror therapies. These robot works fully autonomous without the need of a physiotherapist. Rehabilitation is a labor-intensive training program which allows stroke patients to relearn the best possible use of their limbs and regain independence. Due to the deficiency of qualified physiotherapist, exoskeleton robots can be used as a solution for conventional manual therapies. This is because robots can do enormous amount of work untiringly with good accuracy. These robots improve the strength, mobility, coordination and quality of life of the patients. Also, the cost involved in conventional rehabilitation is not very affordable for the common man. The proposed hybrid exoskeleton robot has a similar kinematic structure of a human upper limb and is designed to operate alongside the limb. Electric motors and pneumatic actuators can be used for actuation. newline