一种新型手腕部粗大训练康复机器人机构设计

The Mechanism Design of a New Type of Wrist Training and Rehabilitation Robot

脑卒中易造成患者肢体偏瘫,影响患者的日常生活质量。手腕部作为人体行为动作的重要执行单元,进行手指抓握与手腕协作等粗大训练具有重要的意义。这里以正常手腕部的运动状态为基础,开发了一种基于手腕部粗大训练康复机器人。通过分析人体手腕部关节结构和关节夹角的生理特征,拟合生成手腕部抓握运动轨迹。构建三自由度的创新康复机器人的结构,实现手部同时抓握、手掌俯仰和手腕旋转运动。开发融合手腕部主/被动训练的康复机器人控制系统,验证机器人的运动功能。实验结果表明,手腕部康复机器人能够分别实现人体手指的抓握、手掌俯仰、手腕旋转的单独运动和相互协作运动,运动范围满足手腕部运动的生理需求。

Stroke can easily cause hemiplegia and affect the quality of daily life.As an important execution unit of human behavior,it is of great significance to conduct extensive training such as finger grasping and wrist cooperation.In this paper,based on the motion state of normal wrist,a rehabilitation robot with thick wrist training is developed.By analyzing the physiological characteristics of the length and Angle of the wrist joint,the motion trajectory of the fingers during the grasping motion of the wrist was fitted.An innovative three-degree-of-freedom rehabilitation robot is constructed to realize simultaneous hand grasping,palm pitching and wrist rotation.The control system of rehabilitation robot was developed,and the motor function of the robot was verified by experiments.The experimental results show that the wrist rehabilitation robot can realize the individual and cooperative movements of finger grasping,palm pitching and wrist rotation,and the range of motion can meet the physiological needs of wrist movement.