2026 Vol.9 Aug.N04

• Title: Trajectory Planning and Simulation of an Upper Limb Rehabilitation Robot Based on Quintic Polynomial Interpolation
• Name: Chengnuo Wang12, Chenchen Zhang12, Jiale Sun12, Xiangyang Ding12
• Company: (1.School of Information and Mechanical and Electrical Engincering, Zhengzhou Business University.Zhengzhou, 451200 China (2.Zhengzhou Intelligent Electromechanical Engineering Research Centre, Zhengzhou 451200 China)
• Abstract:

  Objective : Aiming at the problem that the trajectory of upper limb rehabilitation robot is not smooth and the joint impact is large in the process of rehabilitation training, the joint space trajectory planning method based on quintic polynomial interpolation is studied to realize the continuous and smooth change of each joint angle, velocity and acceleration curve, and improve the safety and comfort of rehabilitation training. Methods : Taking the four-degree-of-freedom upper limb rehabilitation robot as the research object, the kinematics model was established by D-H parameter method, the forward kinematics equation was deduced and the workspace was solved by Monte Carlo method. In the joint space, the quintic polynomial interpolation is used to plan the trajectory of typical rehabilitation actions, and the simulation is verified by MATLAB / Simulink. Results : The simulation results show that the curves of angle, angular velocity and angular acceleration of each joint are continuous and smooth without mutation. The peak value of angular acceleration is controlled within a reasonable range, and the end effector can accurately track the preset trajectory. Conclusion : The quintic polynomial interpolation method can effectively ensure the smoothness and continuity of the trajectory of the upper limb rehabilitation robot, and meet the requirements of safety and comfort for rehabilitation training.

  
  

• Keyword: upper limb rehabilitation robot ; quintic polynomial interpolation ; trajectory planning ; kinematics modeling ; simulation analysis
• DOI: 10.12250/jpciams2026090805
• Citation form: Chengnuo Wang, Chenchen Zhang, Jiale Sun, Xiangyang Ding, Zizhe Yuan, Yupeng Wang.Trajectory Planning and Simulation of an Upper Limb Rehabilitation Robot Based on Quintic Polynomial Interpolation[J]. Computer Informatization and Mechanical System,2026,Vo

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