Rehabilitation Upper Limb Exoskeleton: Human-Robot Simulation Framework

In this article we present a simulation framework for the mechatronics development and validation of robotics exoskeletons. The framework is focus on a serial-link upper-limb rehabilitation robots where specific therapies for shoulder, elbow and/or wrist rehabilitation can be simulated and tested prior to be applied on the patient extremity. Such a simulation framework incorporates human-robot interaction through its coupling with the patient, and is evaluated by implementing different trajectories, which can be customized according to the range and speed of movement (conditions dependent on each treatment and patient). Kinematic model of the exoskeleton is presented and validated through its equivalent in the MATLAB \(^\circledR \) software. In addition, the equivalent of the device in the MSC ADAMS View \(^{TM}\) software is used for the evaluation of physical rehabilitation trajectories, in which the coupling between the robot and the user is considered through their physical characteristics. Therefore, this virtual environment helps the designer to improve the safety and accuracy of the robotic device.