便携式二自由度腕关节康复机器人设计

Design for portable 2-DOF wrist joints rehabilitation robot

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.