Experimental study on kinematics model of wrist rehabilitation combined with EMG

Abstract:
In recent years, due to the aging of the population and the increase of other sports injuries, the demand for sports rehabilitation in China is increasing. With the progress of robot related technologies such as machine vision and sensors, the research on rehabilitation robot is becoming more and more sophisticated.In the field of wrist rehabilitation, most of the current research focuses on mechanism design or multi-sensor application, and less on ergonomics. Therefore, in order to further optimize the design of wrist rehabilitation robot, it is very necessary to analyze the kinematics of human wrist, and then improve the degree of man-machine combination. In this paper, by analyzing the wrist skeletal structure, the wrist joint of the human body is equivalent to a kinematic model with two degrees of freedom of rotation. The model establishes a coordinate system with the wrist joint for a kinematic analysis. The kinematics model is validated by experiments with Delsys sensors. Meanwhile, combining with EMG signal, the effective exercise space of two degrees of freedom in rehabilitation exercise is analyzed.