脑卒中患者康复推拿机器人机械臂研究

Study on Manipulative Robot Arm for Stroke Patients

为赋能健康管理,加速实现“健康中国2030”,设计一款满足脑卒中患者推拿康复治疗机器人,解决推拿师数量稀少的问题,主要结合脑卒中导致的运动神经元损伤肢体运动障碍特征进行推拿手法分析,提出描述并量化手法的运动学特征,根据特征参数对推拿机器人平台模型、机械臂及手腕进行设计,RBT-6S02P机器人,配置三轴垂直相交的臂和三转动关节的手腕使机器人能达到最佳效果,为后续开发奠定了基础。

In ordwr to enable health management and accelerate the realization of"Healthy China 2030",a massage rehabilitation therapy robot is designed to meet the needs of stroke patients and solve the problem of few massage therapists.The massage man ipulati on is an a lyzed mainly in combination with the characteristics of motor n euron in jury and limb movement disorders caused by stroke,and the kinematic characteristics of manipulation are described and quantified.According to the characteristic parameters,the massage robot platform model,robot arm and wrist are designed.Bt-6S02P robot is equipped with three vertical intersecting arms and three rotatory wrists to achieve the best effect,which lays the foundation for the subsequent development.