中国机械工程2009，Vol.20Issue(20)：2395-2398,4.
一种新型穿戴式手功能康复机器人
A Novel Wearable Robot of Hand Repetitive Therapy
摘要
Abstract
A novel wearable robot of hand repetitive therapy was developed for stroke and traumatic brain rehabilitation. The robot driven by peneumatic muscles can help patients to complete repetitive training task for motion function rehabilitation of their fingers' joints. The robot had three degrees of freedom, which was equipped with three angle sensors and two force sensors to acquire the state of the human-robot hybrid system. At the same time, virtual reality technology was used to build a virtual rehabilitation environment in the system in order to enhance the patient's interest and optimize the effect of rehabilitation. Finally, a conventional PID controller was implemented and the cubic spline function trajectory tracking control for joint's angles was realized. Experiments were performed to confirm the effectiveness of the proposed devic and methods.关键词
手功能康复机器人/气动肌肉/运动功能训练/虚拟现实技术Key words
hand rehabilitation robot/ pneumatic muscle/motion function training/virtual reality technology分类
医药卫生引用本文复制引用
邢科新,徐琦,黄剑,王永骥,吴军..一种新型穿戴式手功能康复机器人[J].中国机械工程,2009,20(20):2395-2398,4.基金项目
国家863高技术研究发展计划资助项目(2008AA042207) （2008AA042207）
国家自然科学基金资助项目(60674105,60874035) （60674105,60874035）
湖北省自然科学基金资助项目(2007ABA027) （2007ABA027）
