体感控制的上肢外骨骼镜像康复机器人系统  

Upper-limb Exoskeletal Mirror Rehabilitation Robot Systems Based on Motion Sensing Control

作　　者：瞿畅[1] 吴炳 陈厚军[1] 于陈陈 沈芳[1] QU Chang;WU Bing;CHEN Houjun;YU Chenchen;SHEN Fang(Collage of Mechanical Engineering,Nantong University,Nantong,Jiangsu,226019)

机构地区：[1]南通大学机械工程学院,南通226019

出　　处：《中国机械工程》2018年第20期2484-2489,共6页China Mechanical Engineering

基　　金：江苏省产学研前瞻性联合研究项目(BY2016053-16);南通市前沿与关键技术创新项目(MS22015007)

摘　　要：为辅助患肢进行自主康复训练,研制了一种体感控制的上肢外骨骼镜像康复机器人系统。设计了可穿戴式三自由度上肢康复机械臂,利用Kinect传感器提取人体6个骨骼关节点数据,计算所需控制参数,将健肢的体势动作转化为控制信号,控制机械臂带动患肢做镜像或同步运动康复训练。搭建了上肢外骨骼康复机器人系统实验平台,分别进行了单关节镜像控制和多关节联动同步控制穿戴实验,系统具有良好的体感控制随动性能,能满足上肢康复训练的要求。In order to assist affected-limb to perform rehabilitation training,an upper-limb exoskeletal mirror rehabilitation robot systems was developed based on motion sensing control.A 3-DOF wearable robot for upper-limb rehabilitation was designed.Skeleton data of 6 joints were collected by Kinect sensors which were converted into control signals after calculations.The control commands were sent to upper-limb exoskeletal robot to assist affected-limb to perform mirror or synchronous rehabilitation training.Experimental platform of upper-limb exoskeletal rehabilitation robot system was built up,and experiments about single joint mirror control and multi-joint synchronous control were carried out.The results prove that this system has good performance of following control,and may meet the training requirements for upper-limb rehabilitation.

关 键 词：体感控制 外骨骼 康复机器人 Kinect传感器 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]