基于虚拟现实手臂外骨骼康复系统的研究  

Research of Rehabilitation System with Arm Exoskeleton Based on Virtual Reality

作　　者：岳宏[1] 王小龙[1] 

机构地区：[1]河北工业大学机器人及自动化研究所,天津300130

出　　处：《机械设计与研究》2004年第1期74-76,共3页Machine Design And Research

摘　　要：将虚拟现实和外骨骼技术引入到肢体的康复工程 ,根据康复医学的运动疗法和作业疗法 ,为上肢残疾患者研制出手臂外骨骼康复系统 ,实现了手臂的运动控制 ,并构建了虚拟环境仿真平台。借助于触觉感知接口的力反馈作用可以使患者感觉到手臂受到的作用力。提出手臂功能康复测评方法 ,并建立患者康复病案数据库。手臂外骨骼康复系统为患者提供有效的肢体功能恢复的工具。Introducing virtual reality and exoskeleton technology into arm rehabilitation engineering. According to kinesitherapy and occupational therapy of the rehabilitation medicine,a rehabilitation system with arm exoskeleton is specially designed and developed for upper limbs disabled patients,which realized the movement control of upper limb and constructed the simulation platform of virtual environment.Patient can perceive the force on upper arm by force feedback of the haptic interface.The rehabilitation assessment method of the limb function is proposed and rehabilitation case history database of patients is built up.Rehabilitation system with arm exoskeleton can provied an effective means to recover the limb function for patients.

关 键 词：手臂外骨骼 虚拟现实 触觉感知接口 康复医疗 康复工程 

分 类 号：TH77[机械工程—仪器科学与技术] TP391.9[机械工程—精密仪器及机械]