摘要
研究开发了一种多模式柔顺膝关节康复器,提出了无杆气缸+气动柔性驱动器的复合驱动技术,保证了对膝关节康复训练柔顺性和大行程的要求。设计了康复器的结构和控制系统的软、硬件,并对康复器的驱动力进行了分析。所研发的康复器可实现膝关节主动、被动等多种模式的康复训练。
This paper develops a multi-modal compliant rehabilitation appliance for knee joint,proposes the complex actuating technology with non-rod pneumatic cylinder and pneumatic compliant actuator,which can satisfy the knee joint rehabilitation training requirements for compliance and long stroke output,carries out the mechanical structure design of the rehabilitation appliance and the control system hardware and software design,analyzes the driving force and makes the rehabilitation appliance realize multi-modal rehabilitation training,such as active and passive training for knee joint.
出处
《机械制造与自动化》
2012年第2期143-146,共4页
Machine Building & Automation
基金
国家自然科学基金项目(51075213)
江苏省自然科学基金项目(BK2008405)
关键词
康复
膝关节
多模式
柔顺性
rehabilitation
knee joint
multi-modal
compliance