On the User-specific Design Approach of Single Degree-of-freedom Mechanisms for Upper Limb Rehabilitation

Abstract

Towards the automated rehabilitation training for patients with upper limb dysfunction, a design method of general-purpose rehabilitation equipment for upper limbs with single degree of freedom (DOF) based on vision technology and motion capture technology is presented. The manually calibrated joint points are tracked by computer vision technology, and the smartphone is used as the tool to obtain the joint movement trajectory. Using the UKF method to fuse the inertial sensor data, and the mechanism design program uses the improved trajectory information to realize the user-specific design of upper limb rehabilitation equipment. The rehabilitation training equipment designed by the proposed method has the characteristics of simple structure, easy control, manufacturing, and high reliability, which reduces the cost of the rehabilitation training equipment and is convenient for popularization.