Abstract: Objective To design upper limbs rehabilitation training system. Methods The system consisted of 3 dimension of freedom robotic arm, cable transmission component and central drive and control component. The central drive and control system were posed at the base and the movements were transmitted from the base to the upper 3 DOF robotic arm by the cable transmission component. 3 dimensional model of the device were developed and the kinematic was simulated in SolidWorks. The first prototype was made and tested. Results and Conclusion The device could execute the designing training steps exactly and meet the design requirements. The system could recognize the intent of users exactly and response well when the auto-movement trigger angle was more than 3.6°.

Key words: upper limb, mechanical arm, cable controlled, motion simulation, rehabilitation