| Abstract [eng] |
Upper limb immobility originated from strokes, injuries cause various problems in human life. People become unable to perform simple everyday tasks, and this as a consequence affects their mental health, as well it can also lead to financial problems – being unable to work and needing to hire a caregiver. To heal the patients as fast as possible effective physiotherapy is essential. For this purpose, robotic devices have emerged in the rehabilitation field. Such assistive rehabilitation devices not only help patients to achieve the best therapy results but also aid the medical staff since part of therapy can be performed by the device, also there is a possibility of remote control. In this study, 3 DOF upper limb exoskeleton is designed to assist the patient in elbow flexion/extension, shoulder flexion/extension and shoulder abduction/adduction movements. It is important to have a medical device that supports the most important upper limb movements and has a comparable range of motion as a healthy limb. Another important aspect is the mass of the exoskeleton system, to have a light frame that is durable and can withstand the required loads five materials are investigated of which three are plastics and two are composites. Manufacturing process of the exoskeleton is 3D printing, specifically FDM process, due to the economical and environmental benefits. After the analysis recycled composite material made from nylon and carbon fiber was selected, which demonstrated the best mechanical properties. For the actuation system brushless DC motor with harmonic drive is chosen. Such a combination provides high torque but a compact and lightweight design. Compact design allows to transport device easily and use not only in medical institutions. For the exoskeleton to operate safely encoders, hall sensors and emergency button is installed. Exoskeleton control is based on the user’s input of desired speed, which is kept constant through the full range of motion. |
