Design of modular humanoid rehabilitation robot for apoplectic hemiplegia

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease, which can make upper limb or lower limb on one side of the body movement-disorder. Early rehabilitation training is the most effective way to regain the Activities of Daily Living (ADL). Based on the concept of humanoid and modular design, this paper outlines the design process of humanoid robot. Conventionally, kinematics and dynamics are calculated in different coordinate frames, which makes simulation and control algorithms are more complex and not intuitive, for the forked-tree structure rehabilitation robot, a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames, the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics, and the singular configurations of redundant manipulator are analyzed. The important design criteria of humanoid robot is discussed, and the realization of the mechanical design is described. Finally, the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.