【作者】 高鸣； 宋爱国； 李会军；

【Author】 GAO Ming,SONG Ai-guo,LI Hui-jun (Remote Measurement and Control Key Lab of Jiangsu Province,School of Instrument Science and Engineering, Southeast University,Nanjing 210096,China)

【机构】 东南大学仪器科学与工程学院远程测控技术江苏省重点实验室；

【摘要】 提出并建立了一个可用于机器人辅助康复训练的虚拟环境。虚拟环境可以提供视觉反馈,将患者控制训练机械臂的运动映射为虚拟环境中的物体的运动,并采用虚拟力势场的方法,通过机械臂为患者提供相应的力反馈。最后,利用单自由度康复训练系统对一名健康男性进行了初步的实验研究。结果表明,该系统可以实现康复训练过程中的视觉和力觉交互,为患者提供暗示和帮助,在康复训练机器人领域有一定的应用前景。更多还原

【Abstract】 A virtual environment for robot-assisted rehabilitation is built.The virtual environment offers visual feedback,which maps the motion of the arm of a one-degree of freedom(DOF) controlled by patients to the motion of the object in this virtual environment,and provides force feedback through the arm using potential field of virtual forces.Finally,primary experiments are performed with a healthy right-handed male.The results verifies that this virtual environment can realize the interaction of visual feedback and force feedback to provide implications and helps for patients during rehabilitation and this method is promising in rehabilitation with robot.更多还原