Study on the Cable-Controlled Household Upper Limb Rehabilitation Robot

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 527)


Purpose The paper is to design a cable-controlled household upper limb rehabilitation robot for the demands of home recovery to overcome the drawbacks of large size, transmission chains, and the driving noise. Methods The transmission system of cable and synchronous belt is used to carry out power transmission, and the motor drive equipment is uniformly placed on the base of the patients far away from the patients, and the overall structure design and 3d model are established. The overall scheme of the control system is designed, and the kinematics simulation analysis is carried out to ensure the rationality of the mechanical structure and the designed trajectory. The result and conclusion Finally, the experimental prototype is made, and the mechanical structure and design trajectory are verified.


Upper limb rehabilitation robot Household Cable controlled Kinematics simulation Trajectory planning Prototype verification 



The work reported in this paper is supported by Support project of Shanghai Municipal Science and Technology Commission, number: 16441905602, Shanghai Science and Technology Commission Platform Construction, number: 15DZ2251700 and Shanghai Local Capacity Construction Project, number: 16060502500.

Compliance with Ethical Standards

The study was approved by the Logistics Department for Civilian Ethics Committee of University of Shanghai for Science and Technology. All subjects who participated in the experiment were provided with and signed an informed consent form. All relevant ethical safeguards have been met with regard to subject protection.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Institute of Rehabilitation Engineering and TechnologyUniversity of Shanghai for Science and TechnologyShanghaiChina

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