人体上肢辅助康复训练设备的开发.PDFVIP

第 31 卷 第 2 期 天津科技大学学报 Vol. 31 No. 2 2016 年 4 月 Journal of Tianjin University of Science Technology Apr. 2016 DOI:10.13364/j.issn.1672-6510 人体上肢辅助康复训练设备的开发 戴凤智，刘 波，岳远里，白瑞祥 (天津科技大学电子信息与自动化学院，天津 300222) 摘 要 ：开发了能够帮助上肢瘫痪患者逐步恢复上肢运动功能的上肢辅助康复训练设备．通过编写上肢动作组控制 该设备模仿正常人体上肢动作 ，以此带动患者上肢的康复运动．在设计上肢动作时 ，参考人体医学相关知识和人体生 理结构特征 ，获得上肢运动的极限位置信息 ，在此基础上进行机械结构设计和选材．控制系统采用高精度 、大扭力舵 机．实验结果基本符合人体上肢康复运动规律． 关键词 ：上肢康复；训练器械；安全性；舒适性；康复动作组 中图分类号：TH69 文献标志码 ：A 文章编号 ：1672-6510 (2016)02-0057-05 Development of Human Upper Limb Rehabilitation Training Equipment DAI Fengzhi ，LIU Bo ，YUE Yuanli ，BAI Ruixiang (College of Electronic Information and Automation ，Tianjin University of Science Technology ，Tianjin 300222 ，China) Abstract ：An upper limb rehabilitation training equipment was designed to help upper limb paralyzed patients progressively regain their upper limb moving ability．By programming the upper limb action sets ，the training equipment is controlled to imitate the normal human upper limb movement ，so that the patient could be trained for upper limb rehabilitation．The equip- ment is based on the knowledge related to physical medicine and the features of human physiological structure ，and the re- gion of human upper limb motion was tested for safety．After the material was selected and the mechanical structure was designed ，highly accuracy high-torque steering motors were used for control．The result of the