Studies have shown that rehabilitation training with the unaffected side guiding affected side is more consistent with the natural movement pattern of human upper limb compared with unilateral rehabilitation training, which is conducive to improve rehabilitation effect of the affected limb motor function. In this paper, a bilateral end-effector upper limb rehabilitation robot (BEULRR) based on two modern commercial manipulators is developed first, then the kinematics, reachability, and dexterity analysis of BEULRR are performed, respectively. Finally, a bilateral symmetric training protocol with the unaffected side guiding the affected side is proposed and evaluated through healthy human subject experiment testing based on BEULRR. The simulation results show that the developed BEULRR could perform spatial rehabilitation training and its rehabilitation training workspace can fully cover the physiological workspace of human upper limb. The preliminary experiment results from the healthy human subject show that the BEULRR system could provide reliable bilateral symmetric training protocol. These simulation and experiment results demonstrated that the developed BEULRR system could be used in bilateral rehabilitation training application, and also show that the BEULRR system has the potential to be applied to clinical rehabilitation training in the further step. In the close future, the proposed BEULRR and bilateral symmetric training protocol are planned to be applied in elderly volunteers and patients with upper limb motor dysfunction for further evaluating.

中文翻译：

---

双边末端执行器上肢康复机器人的研制与分析

研究表明，健侧引导患侧的康复训练比单侧康复训练更符合人体上肢的自然运动模式，有利于提高患肢运动功能的康复效果。本文首先开发了基于两个现代商用机械手的双边末端执行器上肢康复机器人（BEULRR），然后分别进行了BEULRR的运动学、可达性和灵巧度分析。最后，提出了一种由健侧引导患侧的双边对称训练方案，并通过基于BEULRR的健康人体受试者实验测试进行评估。仿真结果表明，所开发的BEULRR可以进行空间康复训练，其康复训练工作空间可以完全覆盖人体上肢的生理工作空间。来自健康人类受试者的初步实验结果表明，BEULRR 系统可以提供可靠的双边对称训练协议。这些仿真和实验结果表明，所开发的BEULRR系统可用于双侧康复训练应用，也表明BEULRR系统具有进一步应用于临床康复训练的潜力。在不久的将来，拟议的 BEULRR 和双侧对称训练方案计划应用于老年志愿者和上肢运动功能障碍患者，以进行进一步评估。