两自由度康复训练交互装置

2DOF Haptic Interface for Rehabilitation Training

针对手部康复训练设备主要由主动驱动器驱动导致的安全稳定性差、容易造成二次伤害等问题,设计了一种用于手部康复训练的被动驱动交互装置。首先简单介绍了被动驱动器的结构、实现原理,在此基础上提出了一种两自由度手部康复训练交互装置设计方法,该交互装置在支架上设置两根相互垂直并处于同一平面的轴,轴的两端分别连接被动驱动器和数字编码器,手柄在两轴的驱动下能在两雏空间内运动并产生两自由度的力。接着分析了手柄受力与被动驱动器输出力的变换方法,最后设计康复游戏,与研制的交互装置配合,开展了脑卒中患者的康复训练试验,试验结果验证了康复训练交互装置对于手部康复训练的有效性。

A passive haptic interface for hand rehabilitation training is designed to solve the problems of low se- curity, low stability, secondary damage, and so on, which are caused by the training devices actuated by active actuator. Firstly, the structure and principle of the magneto-rheological fluid actuator are introduced briefly, and then the design method for the 2DOF hand rehabilitation training haptic interface is proposed. Two axises are installed on a support orthogonally in a plane, which are connected by a magneto-rheological fluid actuator and a digital encoder respectively. A handle actuated by the two axises can move in a 2-dimension space and a 2DOF force can be produced. Then the transform method for handle force and the output force of the actuator is analyzed. A rehabilitation training game is designed and rehabilitation training experiments are done for the stroke patients with the proposed haptic interface in the end. The validity of the interface for hand rehabilitation training is verified by the results.