【摘要】 为了实现偏瘫患者上肢自主训练康复,降低康复医疗及陪护成本,我们提出了一种上肢镜像康复外骨骼结构设计方案,利用健侧上肢的运动来补偿患者运动的不足。机构设计了2种运动补偿形式:手动控制镜像牵引上肢关节以刺激手部肌肉、单片机控制利用舵机牵引实现训练。在研究分析患肢病理康复学角度上构建外骨骼三维模型图,利用Adams仿真软件对机构实施了机构上肢运动实验的动力学仿真,对比分析其运动轨迹、加速度、力矩、角速度等,由此验证机构设计及控制方法的可行性,实验结果验证了该外骨骼能较好的实现预期运动。更多还原

【Abstract】 In order to achieve the purpose of autonomous rehabilitation of upper limbs for patients with hemiplegia and reduce the medical and escort costs of rehabilitation personnel, we propose a design scheme for upper limb mirror rehabilitation exoskeleton structure, which can compensate for the lack of active movement of patients by implementing continuous passive movement. The mechanism design has two control forms: manual control of the mirror to pull the upper limb joints to stimulate the hand muscles; single-chip microcomputer control uses the steering gear to achieve training. A threedimensional model of exoskeleton was constructed from the perspective of pathological rehabilitation of the affected limb. Adams simulation software was used to implement the dynamic simulation of the upper limb movement experiment of the mechanism, and the comparative analysis of its trajectory, acceleration, moment, angular velocity, etc. was verified by this. The feasibility of the mechanism design and control method, and the experimental results verify that the exoskeleton can achieve the expected motion well.更多还原