Driessen B J, Evers H G, van Woerden J A
TNO-TPD, Delft, The Netherlands.
Proc Inst Mech Eng H. 2001;215(3):285-90. doi: 10.1243/0954411011535876.
Rehabilitation robots are assistive devices designed for use by people with severe disability in order to gain independence in tasks of daily living. MANUS is a wheelchair-mounted general-purpose manipulator now in use with over 100 people in their homes in the Netherlands, in France and in other countries. MANUS has six main degrees of freedom, excluding the gripper. To keep the arm slim, the motors are placed in the main base. The resulting low mass of the arm ensures a reduced impulse in case of collision. A complex system of toothed belts, hollow shafts and geared wheels drives the end-effector. MANUS is equipped with a two-fingered gripper. The fingers have passive canting mechanisms which ensure a three-point grasping action for most objects. A modular control system is used for steering the manipulator to its desired position. For this, a simple but effective user interface has been developed which is configurable by the end-user as well as by the therapist.
康复机器人是为重度残疾人士设计的辅助设备，旨在帮助他们在日常生活任务中实现自理。MANUS是一种安装在轮椅上的通用机械手，目前在荷兰、法国和其他国家的100多人家庭中使用。MANUS有六个主要自由度，不包括抓手。为了使手臂纤细，电机安装在主底座中。由此产生的手臂低质量确保了碰撞时的冲击力减小。一个由齿形带、空心轴和齿轮组成的复杂系统驱动末端执行器。MANUS配备了一个双指抓手。手指具有被动倾斜机构，可确保对大多数物体进行三点抓握动作。模块化控制系统用于将机械手转向其期望位置。为此，开发了一个简单但有效的用户界面，最终用户和治疗师均可对其进行配置。
