Dynamics analysis and simulation experiments of twist spring drive upper limb rehabilitation robot

In this paper, based on twist string drive, the original two ropes are improved into seven ropes, and they are evenly arranged in a cylindrical space. The rotation of the motor drives the ropes to twist each other, and the force generated by the ropes drives the robot arm to move. Based on the improved twist string drive device, a twist string drive upper limb rehabilitation robot is designed for the rehabilitation training of patients with shoulder and elbow joint injuries. The mathematical model of the twist spring drive is established, and the dynamic equation of the robot is built. The mechanical structure of the robot is meticulously designed using SolidWorks. The performance of the robot is numerically simulated in MATLAB/Simulink and validated in a semi-physical experimental platform based on dSPACE1202. The simulation and experimental results show that the robot designed in this paper can realize the rehabilitation training of shoulder and elbow joints and provide practical rehabilitation training for patients with shoulder and elbow injuries.