摘要
针对传统康复机器人康复功能单一、联动训练不足、控制操作性差等问题,设计了一种涵盖上、下肢体七种关节的综合康复训练机器人,包括上肢的肩关节与肘关节、下肢的髋关节与膝关节、手掌的腕关节与指关节、脚掌的踝关节独立康复训练模式以及下肢-脚掌联动、上肢摆臂-下肢步态联动复合训练模式。试验表明:本康复机器人简化了机械传动链、提高了操控性,能实现稳定、有效的独立模式下的单肢体关节康复训练和复合模式下的多肢体关节联动康复训练,满足了患者的多样化要求。
Aiming at the problems of single rehabilitation function,insufficient linkage training and poor control maneuverability of traditional rehabilitation robots,a comprehensive rehabilitation training robot covering seven kinds of joints of upper and lower limbs was designed,including the independent rehabilitation training mode for the shoulder and elbow joints of the upper limbs,the hip joints and knee joints of the lower limbs,the wrist joints and the knuckles of the palms,and the ankle joints of the soles of the feet and compound training mode of lower limb-foot linkage,upper limb swing arm-lower limbs gait linkage.Experiments show that the rehabilitation robot simplifies the mechanical transmission chain and improves the maneuverability.It can realize the rehabilitation training of single limb joint in stable and effective independent mode and multi-limb joint in compound mode,and meet the diverse requirements of patients.
作者
胡红钱
张秉文
葛江滨
王策
唐施敏
HU Hong-qian;ZHANG Bing-wen;GE Jiang-bin;WANG Ce;TANG Shi-min(Department of Mechanical Engineering,Zhejiang Industry Polytechnic College,Shaoxing 312000,China)
出处
《机械工程与自动化》
2019年第5期35-37,共3页
Mechanical Engineering & Automation
基金
浙江省教育厅一般科研项目(Y201839102)
浙江省新苗人才计划项目(2019R452003)
关键词
康复机器人
康复训练机构
肢体
关节
rehabilitation robot
rehabilitation training organization
limbs
joints
