Elbow Joint Horizontal Motion Rehabilitation Training System Based On the Four-wheel Differential Drive Module

This paper presents a novel elbow joint horizontal motion rehabilitation training system based on a four-wheel differential drive module. The extensional bending action of the elbow joint of the patients is assisted by the use of this system. This system makes up for the shortcomings of current exoskeleton upper limb rehabilitation robots. These shortcomings include the complexity of the mechanism of the rigid structure, the secondary injury caused by the inconsistency between the center of rotation of the mechanism and the center of the elbow joint during the movement, and the poor portability caused by its large volume. Four DC geared motors are used as the drive modules for the system based on the STM32 chip in this studying. In addition, this paper proposes an algorithm for adjusting the rotation center of a four-wheeled chassis based on differential drive to increase the flexibility of the periodic training of rehabilitation system.