Kinect在上肢康复机器人运动控制中的应用

Application of Kinect in Control Mode of Upper-Limb Rehabilitation Robot

为进一步提升上肢康复机器人使用过程中的人机交互体验、增强康复医师对康复训练方案的个性化定制能力,以实验室已开发的上肢康复机器人为基础,引入Kinect体感摄像头对原有主动臂控制从动臂的控制模式进行改进,构建了一套运动数据采集系统。试验结果表明,该系统能有效采集被测对象的运动数据,以简捷、高效且低成本的方式来实现上肢康复机器人的运动控制。

To improve human-computer interaction experience in the using process of the upper-limb rehabilitation robot and enhance rehabilitation physicians＇ ability to customize rehabilitation programs,we buid a motion data collection system by Kinect somatosensory camera. It improves the original master-slave control mode of the upper-limb rehabilitation robot developed in laboratory. The results show that the system can effectively collect motion data of the object, and realize the motion control of upper-limb rehabilitation robot in an efficient and lowcost way.