【摘要】 为更好地协助上肢运动障碍患者康复训练，文中提出一种基于单板机（SBC）和惯性测量单元（IMU）且可供患者训练的外骨骼康复装置。利用该装置可捕捉目标运动手臂轨迹，驱动患处以相同轨迹训练。首先，采用人机工程学方法系统建模，应用拉格朗日法进行动力学分析；随后，构建动作捕捉子系统，SBC选用PocketBeagle,IMU选用MPU9250以构成信号采集系统，由WiFi实现SBC与上位机的连接。由SBC对IMU内部加速度、磁力计、陀螺仪的输出数据作信息融合与姿态解算，产生PWM信号实时控制舵机，实现外骨骼驱动。相比传统康复机器人，文中提出的外骨骼康复装置设计轻量便携、易于操控，可为上肢运动障碍的患者康复训练提供一种新途径。更多还原

【Abstract】 In order to better assist the rehabilitation training of patients with upper limb movement disorders, an exoskeleton rehabilitation device is proposed based on(single board computer) SBC and inertial measurement unit(IMU),which can be used for patient training. This device can be used to capture the track of the target movement arm and drive the affected area to train in the same track. The ergonomic method is used for the system modeling,and the Lagrange method is used for the kinetic analysis. The motion capture subsystem is constructed,PocketBeagle is used for SBC,and MPU9250 is selected by IMU to form the signal acquisition system. The connection between SBC and upper computer is realized through WiFi. The SBC is used to conduct the information fusion and attitude solution for the output data of the IMU internal acceleration,magnetometer and gyroscope,to generate PWM signal to real-time control gyroscope and achieve the exoskeleton drive. In comparison with traditional rehabilitation robots,the exoskeleton rehabilitation device proposed in this paper is lightweight,portable and easy to operate,which can provide a new way for rehabilitation training of patients with upper limb movement disorders.更多还原