基于视觉与触觉双信息的上肢康复训练机器人运维系统设计

The development of upper limb rehabilitation training robot operation and maintenance system based on visual and tactile information

针对传统上肢康复器械信息处理缓慢、康复效果差的问题,设计基于视觉与触觉双信息的上肢康复训练机器人运维系统。在系统硬件部分,采用三维触觉操作器Phantom操控虚拟手臂,利用Camshift算法完成对不同颜色物体的跟踪,通过加权集成算法实现对触觉压力数据的操作;在系统软件部分,基于ARAT的抓握测试,评估手臂的抓握能力,采用双侧训练模式和脑电训练模式,修复患者肌力受损部位,通过奇异值分解方法,完成对矩阵目标函数值的求解,利用ICP算法处理图像轮廓特征点,实现图像的配准。实验结果表明,该系统配准精度高,可以完成预期目标,且跟踪效果佳。

Aiming at the slow information processing and poor rehabilitation effect of traditional upper limb rehabilitation equipment,it develops a robot operation and maintenance system for upper limb rehabilitation training based on visual and tactile information.In the hardware part of the system,it uses the 3d tactile operator Phantom to control the movement of the virtual ARM,and applies Camshift algorithm to track objects of different colors.Based on the weighted integration algorithm,it realizes the operation of tactile pressure data.In system software part,it realizes the grasping testing based on ARAT,assessing the ability of ARM grasping,double side training mode and electrical training mode,repairing the damaged part in patients with muscle.It completes solution of the objective function value of matrix based on the method of singular value decomposition,realizes the image registration based on the ICP algorithm processing image contour feature points.The experimental results show that the system has high precision,can achieve the expected target,and have good tracking effect.