东南大学学报（英文版）2008，Vol.24Issue(1)：42-45,4.
主从式远程康复机器人系统中力反馈的实现
Force assistant master-slave telerehabilitation robotic system
摘要
Abstract
A prototype of the master slave telerehabilitation robotic system with force feedback is developed.This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise.A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely.A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately.By using the two-port network theory and the circuit equivalent impedance models,the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise.Experiments were conducted with a healthy male.Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot.Compared with the traditional therapy,this system is more cost-efficient,more convenient and safer for both the stroke patients and the clinicians.关键词
远程康复/力反馈/机器人/位置-力控制Key words
telerehabilitation/force feedback/robot/position-force control scheme分类
信息技术与安全科学引用本文复制引用
李会军,宋爱国..主从式远程康复机器人系统中力反馈的实现[J].东南大学学报（英文版）,2008,24(1):42-45,4.基金项目
The National Natural Science Foundation of China(No.60475034). （No.60475034）
