摘要
针对康复机器人大多体积庞大,应用于医院时不便于移动,为实现康复机器人的家用与便携化,设计了一种新型便携式二自由度腕关节康复机器人.该机器人采用气动肌肉对驱动的方式完成辅助患者腕部屈/伸的康复训练,采用微型电机驱动腕部摇摆功能的运动训练.最后,对所设计的装置进行了运动学分析与Matlab仿真,验证了设计方案的可行性.
To provide rehabilitation training for motor dysfunction after stroke and traumatic brain injury,the rehabilitation robot has been widely developed over the world.Most of these robots are designed for using in hospitals with large volume and hard to move.To the purpose of family use and portable,aportable 2degrees of freedom(2-DOF)wrist joints rehabilitation robot was developed. The robot can help the patients to complete repetitive training task for motor exercise of wrist flexion and extension and wrist swinging.The robot joint for wrist flexion and extension was driven by pneumatic muscle pair and the joint for wrist swinging was driven by micro motor.Finally,the feasibility of the robot design was verified theoretically by kinematics analysis and Matlab simulation.
出处
《华中科技大学学报(自然科学版)》
EI
CAS
CSCD
北大核心
2013年第S1期329-331,共3页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家科技支撑计划资助项目(2012BAI33B01)
关键词
康复机器人
运动学
气动肌肉
便携式
腕关节
rehabilitation robot
kinematics
pneumatic muscle
portable
wrist