基于生物反馈的桌面上肢神经康复机器人的研究  

Research on Desktop Upper Limb Neurorehabilitation Robot Based on Biofeedback

作　　者：徐海明 吴海帆[1] 刘勇[2] 谭信国 田谨晓 王汝鑫 李恩赐 

机构地区：[1]大连理工大学机械工程学院,辽宁 大连 [2]大连医科大学附属第一医院康复医学科,辽宁 大连

出　　处：《机械工程与技术》2022年第2期102-109,共8页Mechanical Engineering and Technology

摘　　要：在充分分析人体上肢关节的结构和运动特性后,开发了一种具有力反馈技术的三自由度上肢神经康复机器人,还设计了一款为患者提供视觉反馈的移动平台配合机器人使用。本文对机器人结构和功能进行了具体分析。为了验证机器人的原理,制定了控制策略和搭建了半物理实验平台,并进行了不同模式的康复训练。实验结果证明了桌面上肢神经康复机器人的合理性和有效性。After fully analyzing the structure and motion characteristics of the human upper limb joints, a three-degree-of-freedom upper limb neurorehabilitation robot with force feedback technology was developed, and a moveable platform that provided visual feedback for patients was designed for use with the robot. This article analyzes the structure and function of the robot in detail. In order to verify the principle of the robot, a control strategy was developed and a semi-physical experiment platform was built, and different modes of rehabilitation training were carried out. The experimental results demonstrate the rationality and effectiveness of the desktop upper limb neurorehabilitation robot.

关 键 词：力反馈 视觉反馈 上肢神经康复机器人 半物理实验平台 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]