Design and Implementation of Shoulder Exoskeleton Robot

An exoskeleton robot for shoulder rehabilitation training is designed for patients with hemiplegia due to stroke. In respect of the human upper limb physiology, a series of mechanical structures are integrated: the retractable link meets the upper arm size of different people; the adjustable module relieves the discomfort caused by the scapulohumeral rhythm; and the gravity compensation module ensures patient safety. Then estimate the joint torque and power of the robot to determine the hardware and materials and make the robot prototype. Finally, the robot and PC form a CAN bus communication network and design the robot’s control software based on the ROS (Robot Operating System) platform to realize the basic rehabilitation training of the patient’s shoulder flexion/extension, abduction/adduction and internal/external rotation. Finally, the comfort of the exoskeleton robot is evaluated through the actual experience of healthy people and in the form of a questionnaire. The test results verify the rationality and comfort of the exoskeleton robot to some extent.