传感技术学报2016，Vol.29Issue(10)：1596-1601,6.DOI:10.3969/j.issn.1004-1699.2016.10.021
基于加速度传感器的下肢康复机器人示教训练
Teaching and Training of the Lower Limb Rehabilitation Robot Based on Accelerometer
摘要
Abstract
It can effectively improve the training performance of rehabilitation robot by combining the clinical expe⁃rience of rehabilitation physician with rehabilitation robot training,and thus a teaching and training method based on the accelerometer and a wireless data acquisition system are proposed. Using the existing exoskeleton lower limb rehabilitation robot,the relationship between the joint angle and the end trajectory,and the relationship between the link acceleration and the joint angle are analyzed. The trajectory data is analyzed from the acceleration information , so the robot training trajectory can be controlled. Wireless data acquisition system developed collects the accelera⁃tion data when patient is trained by rehabilitation physician and transforms it into trajectory data ,which can be used for the control of teaching and training. The experimental results demonstrate that the system can satisfy the teach⁃ing and training requirements of rehabilitation robot.关键词
机械电子工程/加速度传感器/机器人的示教与训练/下肢康复机器人/无线数据采集系统Key words
mechatronic engineering/accelerometer/robot teaching and training/lower limb rehabilitation robot/wireless data acquisition system分类
机械制造引用本文复制引用
赵小磊,林木松,李齐,史小华,赵朝盛,王洪波..基于加速度传感器的下肢康复机器人示教训练[J].传感技术学报,2016,29(10):1596-1601,6.基金项目
教育部高等学校博士学科点专项科研 （）
