《一种手指康复装置的机构与控制实验》.pdfVIP

短 JournalofClniicalR中e闲ha组bi织lita工tiv程e研Tis究su与eE临n床gin康ee复nng剪Re7s4ea眷~h第J3u0ty期23V0o7I．—1423．No出版3．0 一 种手指康复装置的机构与控制实验料术★ 俞晶晶，钱晋武，沈林勇，章亚男 Mechanicaldesignandmotioncontrolexperimentofafingerrehabilitationrobot YuJing-jing，QianJin—WU，ShenLin—yong，ZhangYa—nan Abstract SchooIof BACKGR0UND：ClinicaIapplicationconfirmsthatduringtheearlyrehabilitationandspontaneousrecovery continuouspassive Mechatronics motioncancompensatetheinsufficientactivemovement．increasephysicaIactivityanddecreasethecorrespondingcomplications Engineeringand inthepatientswithpostoperativeIimborbrainnerveinjury． Automation． ShanghaiUniversity OBJECTlVE：T0designafingerrehab．¨tati0ntrainingrobotbasedonnormaIhumanfingermovementtrajectOry． Shanghaj METHODS：Accordingtocontinuouspassivemotionrehabilitationtheory．therehabilitationtrainingrobotwasdesigned．Thisrobot 200072．China mainlyincludedfourfingersmechanism andthumbmechanism，andachievedfingertofingermovementusingsteppermotor． RESULTSANDCONLUTION：FortherehabilitationoffingerswithdifferentIength．mechanicaImotioncontroIexperimentwas YuJingjing-h， Studyingformaster’s performed．Theaveragerelativeerrorbetweenmechanism driverodandexpecteddatawasabout2％．Theresultsdemonstrate degree．SchooIof thatthefeasibilityofmechanicaldesignandcontrolmethodrobot．andthefingerrehabilitationtrainingrobotcanaccomplishfinger Mechatr0nics rehab_litatIonwellHumanfingerrehab_litatIOntrainingtestwilIbeconductedinfuturestage Engineeringand Automation ShanghaiUniversity, YuJJ，QianJW ，ShenLY．ZhangYN．Mechanicaldesignandmotioncontrolexperimentofafingerrehabilitationrobot．Zhongguo Shanghai ZuzhiGongchengYanjiuyuLinchuangKangfu．2010：14(3O)：5596-5600． h【ttp：Hwwwcrter．cn http：／／en．zglckf．corn】 200072．China yujingJingecho@ gmailcorn 摘要 背景：临床证实，在患者肢体手术后或脑神经损伤的早期康复及 自发恢复期间，实施连续被动运动可以补偿患者主