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设计了一种力觉辅助主从式远程康复训练机器人系统,该系统由主机械臂和从机械臂构成,二者通过In-ternet网络相连.治疗师在医院操纵主机械臂,远地从机械臂跟踪治疗师的运动,可以使患者在家或社区康复中心进行康复训练.从机械臂及其控制器用于引导患肢关节进行安全准确地伸展和运动.主机械臂及其控制器用于远程控制和监测患者的训练过程,并对输出数据进行分析,评估训练效果.基于二端口理论和电路等小阻抗模型,设计了力反馈-位置型的控制结构来实现力反馈,使治疗师可以及时感知到患者训练过程中与机械臂的交互力.在此基础上,建立了一套单自由度远程康复训练机器人系统,对一名健康男性进行了实验研究,结果表明治疗师可以通过操纵主机械臂引导实验对象训练并感受到实验对象与从机器人的交互力信息.与传统的康复方法相比,该方式无论对于医生和患者都更为经济方便.
A force-assisted master-slave tele-rehabilitation training robotic system is designed, which consists of a master manipulator and a slave manipulator, both of which are connected by an In-ternet network.The therapist manipulates the main manipulator arm in the hospital, The arm tracks the therapist’s movements and allows the patient to undergo rehabilitation training at home or in a community rehabilitation center, with robotic arms and their controls for the safe and accurate extension and movement of the affected limb joints. The master arm and its controls are used for remote control and Monitor the patient’s training process and analyze the output data to evaluate the training effect.Based on the two-port theory and small impedance model of the circuit, the force feedback-position control structure is designed to realize the force feedback so that the therapist can perceive Patient interaction with the manipulator during training.On the basis of this, a single degree of freedom long-range rehabilitation training robot system was established and an experimental study on a healthy male showed that the therapist can guide the manipulator by manipulating the main manipulator The experimental subjects train and feel the interactive information between the experimental subject and the robot.Compared with the traditional rehabilitation methods, Doctors and patients are more economical and convenient.