龙门式上肢偏瘫康复训练机器人  

Gantry Type Upper Limb Hemiplegic Rehabilitation Robot

作　　者：张宇[1] 孙容磊[1] 王晓红[1] 

机构地区：[1]华中科技大学机械科学与工程学院数字制造装备与技术国家重点实验室,湖北武汉430074

出　　处：《机械设计与制造》2014年第7期186-188,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(50875100;51205145)

摘　　要：介绍一种龙门式上肢偏瘫康复训练机器人,包括:水平左右运动机构、水平前后运动机构和竖直上下运动机构。可以带动患者手部作水平左右、水平前后和竖直上下三个方向的直线运动,同时,手柄组件具有三个旋转轴正交的被动旋转自由度,通过三个方向的直线运动和三个旋转轴正交的旋转运动可以合成出任意复杂的上肢动作,从而使患者上肢各关节、运动肌肉群以及运动功能神经系统群得到有效的物理刺激,达到恢复患者上肢运动功能的目的。本康复训练机器人的特点在于采用龙门直角坐标的结构形式,扩大了患者上肢的运动范围,同时三个方向的直线自由度不存在运动耦合,便于实现复杂的轨迹规划与控制。This paper presented a kind of gantry type limb rehabilitation robot including horizontal and vertical movement module, which can lead the hand of patient to make horizontal and vertical three direction linear motion. Meanwhile, the handle components contain three orthogonal rotational degrees of freedom The robot can lead upper limbs to realize arbitrarily complex movements through the linear motion of the three directions and three orthogonal rotations, by which the limb joints, movement functional nerve group and muscles will get effective physical stimulus, and assists the patients to recovery from upper limb movement function obstacle. Characteristics of this rehabilitation training robot is the structure of gantry rectangular coordinate, which expand the scope of patients with upper limb movement, at the same time, the three linear degrees of freedom are decoupled, which makes it easy to plan and control of complex training trajectory.

关 键 词：龙门式机器人 康复机器人 上肢偏瘫 运动功能 

分 类 号：TH16[机械工程—机械制造及自动化]