基于双目视觉信息采集的镜像康复机器人

MIRROR REHABILITATION ROBOT BASED ON BINOCULAR STEREOVISION

镜像康复与感觉刺激等被动运动恢复的模式不同,其主动模式对于受损运动恢复更有效,对此设计一种镜像康复机器人,包括患侧辅助及健侧信息采集。患侧辅助采用末端导引模式设计机械结构,具有良好的手臂适应性,使辅助装置可以适应更多人群;健侧信息采集基于双目视觉技术测距和实时角度信息采集,可以无接触采集,使采集更加安全;采用镜像转换技术将健侧信息与患侧辅助装置结合,完成康复训练。实验中机器人完成了双目视觉采集,肩关节外展/内屈、肘关节外展机/内屈运动等相应任务,该设计为卒中患者的康复训练提供了一种新的途径。

The mirror rehabilitation applies active mode in the recovery of damaged motion.It performs more effective than the passive recovery patterns such as sensory stimulation.A mirrored rehabilitation robot is designed,including the affected side and the side information collection.The affected side used the end guiding mode to design the mechanical structure,which has good arm adaptability,so that the auxiliary device can adapt to more people.The health side collection was based on binocular vision technology ranging and real-time angle information collection.The device has access to information through contactless way,which ensures the safety.The image conversion technology was used to combine the health information with the affected side auxiliary device to complete the rehabilitation training.In the experiment,the robot completed the binocular vision acquisition,shoulder joint abduction/internal flexion,elbow joint extension machine/internal flexion movement and other corresponding tasks.This robotic design provides a new approach to rehabilitation for stroke patients.