基于MATLAB的手臂康复机器人仿真研究

Research of Arm Rehabilitation Robot Simulation Based on MATLAB

手臂康复机器人通过牵引患肢按规定轨迹运动,以锻炼肌肉、恢复运动功能,实现手臂康复训练。该机器人采用极坐标形式,由电机驱动各关节协调控制实现手臂的平面运动,该机器人可以在水平面和垂直面进行手臂运动锻炼。建立了基于MATLAB的手臂康复机器人控制模型,基于虚拟现实技术进行了仿真,仿真结果说明系统达到了预期效果。

Via towing the ill limbs according to the requested path, an arm rehabilitation robot can exercise the muscle as well as resume the movement function, consequently to accomplish the rehabilitation training. This robot adopts the polar coordinates form. The coordinately controlled joints are actuated by motors to realize the plane movement of the arm. It can fulfill the arm movement exercises in the horizontal and vertical plane. The control model of the arm rehabilitation robot was established, the simulation based on the virtual reality technology was made. The result illuminates the system achieves the anticipant effect.