基于力反馈的上肢康复机器人

Rehabilitation robot based on force feedback

针对脑中风引起的偏瘫患者,提出了一种新的基于虚拟现实技术上的上肢康复机器人系统。该系统主要由上肢外骨骼装置,触觉装置,电机控制器和工作站组成。患者穿戴上肢外骨骼机构,安装在患者患侧,通过电机带动外骨骼运动从而使患者患侧运动。在外骨骼运动过程中,通过力反馈机构将患者受力或施力反馈到三维触觉操作器,进而反馈给对其辅助治疗的医生。

For the patients with hemiplegia caused by cerebral apoplexy, this paper presents a new upper limb rehabilitation robot system based on Virtual Reality Technology. The system is mainly form of an upper limb exoskeleton device, PHANTOM, the motor controller and workstation. Patients wearing upper limb exoskeleton mechanism, installed in the patients with side, in the move of the exoskeleton that help patients do exercise. In the process of moving the exoskeleton, through the force feedback mechanism will feedback the force to the PHANTOM, then feedback to the doctor.