《中国康复理论与实践》

《中国康复理论与实践》 ›› 2013, Vol. 19 ›› Issue (1): 82-85.

• 论文 • 上一篇    下一篇

索控式三自由度上肢康复训练机器人

简卓，易金花，顾余辉，喻洪流   

  1. 上海理工大学生物力学与康复工程研究所，上海市200093。
  • 收稿日期:2012-08-03 修回日期:1900-01-01 出版日期:2013-01-25 发布日期:2013-01-25
  • 通讯作者: 喻洪流

3 Degrees of Freedom Cabel Control Robot for Upper Limbs Rehabilitation

JIAN Zhuo, YI Jin-hua, GU Yu-hui, et al.   

  1. Institute of Biomechanics and Rehabilitation Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
  • Received:2012-08-03 Revised:1900-01-01 Published:2013-01-25 Online:2013-01-25

PDF (PC)

摘要： 目的设计一种用于上肢功能障碍康复训练的索控式机械装置。方法利用钢丝绳索传递动力；电机驱动设备集中安装在底座。建立装置的三维模型并利用运动分析软件对设计进行仿真分析。设计驱动-控制电路，对样机进行验证。结果和结论该装置能很好完成规划的训练动作，满足设计要求。利用实验样机实现了肩关节的助力训练。将样机的自主运动触发级别设置为3.6°以上能获得较好响应效果，并且能准确地识别使用者的运动意图。

关键词: 上肢, 机械臂, 索控, 运动仿真, 康复

Abstract: Objective To design upper limbs rehabilitation training system. Methods The system consisted of 3 dimension of freedom robotic arm, cable transmission component and central drive and control component. The central drive and control system were posed at the base and the movements were transmitted from the base to the upper 3 DOF robotic arm by the cable transmission component. 3 dimensional model of the device were developed and the kinematic was simulated in SolidWorks. The first prototype was made and tested. Results and Conclusion The device could execute the designing training steps exactly and meet the design requirements. The system could recognize the intent of users exactly and response well when the auto-movement trigger angle was more than 3.6°.

Key words: upper limb, mechanical arm, cable controlled, motion simulation, rehabilitation