摘要
研究了一套基于虚拟现实技术的3自由度上肢康复机器人系统。机器人传递运动部分采用连杆机构和3重轴;控制单元采用数字信号处理器(DSP),绝对式编码器采集各轴旋转位置、方向信息,磁粉制动器实现各轴的负载、制动;人机交互方面,患者操作机器人末端手柄做虚拟现实技术开发的虚拟游戏。该系统能够提高患者的主动性和实现3自由度康复训练运动。
To design a set of 3 DOF （degree of freedom） upper limbs rehabilitation robot system. Robot transmission parts adopt hnk mech- anism and 3 axes. The digital signal processor（DSP） is adopted to accomplish robot control, absolute encoder collects the position and direction of each axis rotation, magnetic powder is adopted to realize each shafr＇s load and brake; In the aspect of human-computer interaction, through the control of end handle, patients do virtual games which are developed by virtual reality technology. The system can improve the patient initiative and realize three degrees of freedom rehabilitation training exercise.
出处
《机电产品开发与创新》
2013年第6期17-19,共3页
Development & Innovation of Machinery & Electrical Products
关键词
上肢
机器人
数字信号处理器
虚拟现实技术
康复
upper limbs
robot
digital signal processor
virtual reality technology
rehabilitation
