基于力反馈的手功能康复训练系统设计  

Design of Hand Rehabilitation Training System Based on Force Feedback

作　　者：霍耀璞 王爱民[1] 赵昌森 HUO Yao-pu;WANG Ai-min;ZHAO Chang-sen(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]东南大学仪器科学与工程学院

出　　处：《测控技术》2019年第8期6-10,共5页Measurement & Control Technology

基　　金：江苏省科技支撑计划项目(BE2012740)

摘　　要：为辅助偏瘫患者进行受损手指康复训练,设计一种力反馈手指康复训练系统。系统主要分为三部分:康复训练机构,下位机控制电路,上位机控制软件。系统有主被动两种训练模式。主动模式下,患者自己做训练动作,由磁流变液阻尼器提供相应的力反馈;被动模式下,电机带动机构和患者手指进行训练动作。同时,在机构上设置光电编码器、力矩传感器来采集患者进行康复训练时手指运动范围、力量等信息,作为对患者康复阶段的评估依据。实验表明,本康复训练系统可以有效辅助患者完成康复训练动作,有利于恢复受损手指功能。To assist hemiplegic patient to perform rehabilitation training,a kind of force feedback fingers rehabilitation training system is designed.The system is mainly divided into three parts:rehabilitation training mechnism,lower computer control circuit and upper computer control software.The system has two training modes.In the active mode,the patient conducts the training movements initiatively,and the magneto-theological fluid(MRF)damper provides the force feedback.In the passive mode,the motor drives the mechanism and the patient's fingers to implement the training.The photoelectric encoders and torque sensors collect patient's rehabilitation information during the training to help doctors assess the patient's rehabilitation stage.The experimental results show that the rehabilitation training system is easy to apply,and can assist the patients to complete the rehabilitation training in a stable and effective manner,which is conducive to the recovery of the damaged hands.

关 键 词：手指康复 力反馈 康复训练模式 磁流变 ARM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]