| 上肢康复机器人主动康复训练控制策略 |
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| 作者姓名： | 刘鹏 葛小青 李宇 赵佳欣 |
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| 作者单位： | 1. 中国科学院遥感与数字地球研究所, 北京 100094;
2. 中国科学院大学, 北京 100049;
3. 东北大学机械工程与自动化学院, 沈阳 110819 |
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| 基金项目： | 国家自然科学基金（61501460）资助 |
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| 摘 要： | 近年来，脑卒中和交通事故造成上肢损伤的人数逐年上升，医疗领域对康复器械的需求越来越大。为满足实际需求，开发以气动人工肌肉为驱动器的4自由度（肩关节外收/内展（被动）、前驱/后伸、肘关节屈曲、腕关节屈曲）可穿戴上肢康复机器人。首先设计上肢康复机器人的结构，并采用气动人工肌肉作为肘关节与腕关节的驱动器。然后针对该上肢康复机器人，研究主动康复训练控制策略，设计两种控制策略。通过穿戴实验验证控制策略的有效性和实际应用价值。
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| 关 键 词： | 康复机器人 气动人工肌肉 直接力控制 阻抗控制 |
| 收稿时间： | 2018-02-09 |
| 修稿时间： | 2018-04-20 |
Study on control strategy of active rehabilitation training for upper limb rehabilitation robots |
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| Authors: | LIU Peng GE Xiaoqing LI Yu ZHAO Jiaxin |
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| Institution: | 1. Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing 100094, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China |
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| Abstract: | In recent years, the upper limb injuries increased year by year due to the stroke and traffic accidents, which caused the demanding for rehabilitation equipment. In order to meet the actual needs, we developed a four-degrees-of-freedom robot which is driven by pneumatic actuator muscle (shoulder joint adduction/in show (passive), precursor/reach, elbow flexion, and wrist flexion). First, the structure of upper limb rehabilitation robot was designed, and pneumatic artificial muscle was used as the driver of elbow joint and wrist joint. Then, for the upper limb rehabilitation robot designed in this studg, two kinds of control under active rehabilitation training were designed. Finally, the effectiveness of the control strategy is verified through the wear tests, which shows the practical value of the rehabilitation robot. |
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| Keywords: | rehabilitation robot pneumatic artificial muscle direct force control impedance control |
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