摘要
针对脊髓损伤患者的早期康复训练急需有效康复训练手段,研究了虚拟现实和康复机器人相结合的脊髓损伤早期康复训练方法,制定了康复训练模式.在分析人体运动与肌肉训练对应关系的基础上,以六自由度并联平台为基本框架,设计了八自由度混联康复机器人.同时构建了虚拟现实康复训练场景,并建立了其与机器人的通信机制,使机器人动作与虚拟场景变化保持同步,实现了患者、机器人与虚拟场景之间的实时交互.最后对整个系统进行了运动测试,机器人系统与虚拟场景在各模式下能协调工作.
For lack of effective means of early rehabilitation training for patients after spinal cord injury, the method of early spinal cord injury rehabilitation training combined with virtual reality （VR） and rehabilitation robot is studied, and relevant training mode is formulated. Based on the analysis of the relation between body movement and muscle training, an eight degrees of freedom rehabilitation robot is designed with six degrees of freedom as the basic framework. Meanwhile a VR scene for training is built, and the mechanism of its communication with the robot is established, which makes the movement of the robot keep pace with the change of virtual scene, and then the real-time interaction between patients, robotics and virtual scene is achieved. After being tested, the entire training environment in each mode is able to coordinate.
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2014年第2期272-277,共6页
Journal of Beijing University of Technology
基金
山东省科技攻关计划资助项目(2010G0020233)
关键词
康复训练
脊髓损伤
并联机器人
虚拟现实
rehabilitation training
spinal cord injury
parallel robot
virtual reality （VR）
