上肢康复机器人手和手臂的集成研究  

Integrated Research on Upper Limbs Rehabilitation Robots Hand and Arm

作　　者：伍平平[1] 刘林[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与制造》2012年第12期142-144,共3页Machinery Design & Manufacture

基　　金：广东省科技厅产学研项目(2010B090400414)

摘　　要：针对现有上肢康复机器人手跟手臂没有集成的不足,利用虚拟现实交互性强、沉浸感好的技术特点和EON SDK的开发功能,通过在EON Studio软件中开发Glove节点和Arm节点,分别用于获取5DT数据手套跟上肢康复机器人手臂的数据,实现上肢康复机器人手跟手臂结构和功能的集成。并建立一个能提高患者训练兴趣的虚拟超市场景和虚拟手,使场景中的虚拟手能随机械手臂和数据手套运动而运动,让患者在康复训练中有身临其境的感觉,对提高康复治疗有很大的促进作用。According to the insuficiency of the existing upper limbs rehabilitation robot which have no integration with hand and arm,the strongly interactive and well immersed technical characteristic of vir- tual reality and the development function of tbe EON SDK is used,through glove Glove and Arm node in EON Studio software,the data of the 5DT glove （rod the data of the mechanical arm is respectively re- quired,to realize the integration with structure and function of the mechtmical arm and the data glove. Through setting up a virtual supermarket that improves patient training interest and a virtual hand,makes the virtual hand move with the mechanical arm and the data glove and makes patients experience personal- ly feelings to improve rehabilitation greatly.

关 键 词：康复机器人 虚拟现实 机械手臂 数据手套 集成 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]