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

An upper limb rehabilitation robot based on twist spring drive is proposed in this paper, which can realized shoulder and elbow rehabilitation training of patients with upper limb disabilities. 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 numerical simulated in MATLAB/Simulink, and validated in semi-physical experimental platform based on dSPACE1202. The simulation and experimental results show that the proposed robot can realized rehabilitation training of upper limb, which provide an effective rehabilitation training method for people with upper limb disabilities.