In this paper, the feasible scheme is proposed to do visual operation and to interact with dynamic system in the 3D virtual reality environment by VR toolbox of MATLAB. Using V-realm Builder toolbox to build 3D virtual model for 5dof upper-limb rehabilitation robot, then it simulates this model in the 3D virtual scene of MATLAB and observes the simulation state of dynamic system in the virtual reality environment through simulink interface. The simulation results show that the virtual-reality system of 5dof upper-limb rehabilitation robot runs well and can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.

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Several methods have been proposed for upper limb muscle training using exercise devices or machines to strengthen the muscle groups. However, most exercises control the direction of resistance to isolate specific muscle groups that need to be trained. A compact and cost-effective upper limb exoskeleton design with a 3-DOF shoulder joint and a 1-DOF elbow joint allows a patient or a healthy individual to move the limb in different planes and increases resistance through adjustments of the spring length to train more muscle groups. The exoskeleton springs were designed to equalize the joint torques for the shoulder and elbow joints with the joint torques obtained from free-weight exercises. Experimental data of the joint torques for two healthy subjects for shoulder abduction–adduction, flexion–extension, and elbow flexion–extension exercises with the exoskeleton were compared to measurements obtained from the upper limb dumbbell lateral raise, the dumbbell frontal raise, and the dumbbell curl exercises. The results of our preliminary evaluation showed that this design had an equivalent effect on the joint torques of shoulder and elbow to the free-weight exercises without the risk of overextension injury. Ultimately, this study provided a design and prototype for an upper limb exoskeleton.

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The previous study showed variable individual responses to the rehabilitation session in stroke patients. The cervical spondylotic myelopathy patients exhibited an exaggerated vagal response.
The aim of the study was to evaluate the heart rate variability and physiological cost index during the overground, treadmill, elliptical and exoskeleton robot gait training. All subject walking on the four gait training condition for 10 minutes, respectively.
The results showed that exoskeleton robot was similar to the other gait training condition in autonomic response. The overground, treadmill, elliptical are limited because a number of therapists are required to manually facilitate the step training. Three or more therapists have to place the paretic limb during the swing phase and to shift the patient’s weight onto the stance limb. The exoskeleton robot reduce therapists’ labor burden on the Clinical.

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In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed for RehabRoby to complete the rehabilitation task in a desired and safe manner. A hybrid system modeling technique is used for high-level controller. An admittance control with inner robust position control loop has been used for the low-level control of RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system RehabRoby.

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In this paper we present a new compact and portable rehabilitation system. It’s role is to provide therapeutic passive motions of the hand. The anatomical characteristics and the biomechanics of the wrist are emphasized. The target anatomical movements of the hand are flexion-extension and abduction-adduction. A comparative study of similar devices is presented. The principle of operation of chosen variant is given. Its design methodology is detailed. A functional prototype was developed and its functional parameters are presented.

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