Huang Xiaohai, Yu Hongliu, Wang Jinchao, Dong Qi, Zhang Linling, Meng Qiaoling, Li Sujiao, Wang Duojin
Institute of Biomechanics and Rehabilitation Engineering, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China;Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, P.R.China;Key Laboratory of Nerve Function Information and Rehabilitation Engineering, Shanghai 200093, P.R.China.
Institute of Biomechanics and Rehabilitation Engineering, School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China;Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, P.R.China;Key Laboratory of Nerve Function Information and Rehabilitation Engineering, Shanghai 200093,
Sheng Wu Yi Xue Gong Cheng Xue Za Zhi. 2018 Jun 25;35(3):452-459. doi: 10.7507/1001-5515.201703052.
With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.
随着社会老龄化，中风患者数量逐年增加。与传统康复治疗相比，上肢康复机器人的应用具有更高的效率和更好的康复效果，已成为康复领域的一个重要发展方向。针对目前上肢康复机器人系统的发展现状和不足，结合上肢康复机器人各类产品的发展趋势，本文设计了一种用于 cable 传动的中心驱动上肢康复训练机器人，可帮助患者完成 6 自由度（3 个为驱动，3 个为欠驱动）训练。结合具有更多关节康复训练的机器人结构，本文在关节空间规划中选择三次多项式轨迹规划方法，设计了进食和举臂两条轨迹。根据轨迹方程，在 MATLAB 中绘制了机器人各关节的运动轨迹。为科学有效的康复训练奠定了基础。最后，搭建了实验样机，对机械结构和设计轨迹进行了验证。
