体感交互式上肢镜像康复训练机器人系统

针对脑卒中患者因大脑神经损伤而造成的上肢运动功能缺失，结合镜像疗法的机器人辅助训练可通过促使双侧肢协同运动来有效地促进大脑神经元重塑，从而实现运动功能恢复。为此，将镜像康复理论、虚拟现实技术和机器人技术有效结合，提出一种体感交互式上肢镜像康复训练机器人系统。使用动作捕捉设备采集患者健肢的位姿信息，通过设计人机镜像运动映射算法来映射上肢康复训练机器人的运动轨迹。考虑到康复治疗的柔性需要，该机器人的关节采用基于比例压力控制的摆动气缸来驱动；同时，针对气动系统的特性，设计了PD（proportional differential，比例微分）+速度前馈补偿的轨迹跟踪控制策略，实现了双侧肢协同运动的镜像康复训练。通过对机器人系统样机进行复合运动轨迹规划试验和镜像康复训练试验，验证了该系统在镜像康复治疗中的可行性和有效性。所设计的机器人系统为人体双侧肢协同运动的康复训练临床需求提供了设计思路和实现方法。

Somatosensory interactive upper-limb mirror rehabilitation training robot system

Aiming at the loss of upper limb motor function caused by brain nerve injury in stroke patients, the robot assisted training combined with mirror therapy can effectively promote the remodeling of brain neurons by promoting the coordinated movement of bilateral limbs, so as to realize the recovery of motor function. Therefore, a somatosensory interactive upper-limb mirror rehabilitation training robot system was proposed by effectively combining the mirror rehabilitation theory, virtual reality technology and robot technology. The pose information of human healthy limb was collected by the motion capture equipment, and the motion trajectory of upper-limb rehabilitation training robot was mapped by designing a human-machine mirror motion mapping algorithm. Considering the flexibility of rehabilitation treatment, the robot joints were driven by oscillating cylinders based on proportional pressure control; at the same time, according to the characteristics of pneumatic system, the trajectory tracking control strategy of PD (proportional differential) + speed feedforward compensation was designed to realize the mirror rehabilitation training of coordinated movement of bilateral limbs. The feasibility and effectiveness of robot system in the mirror rehabilitation treatment were verified by the composite motion trajectory planning test and the mirror mirror rehabilitation training test for the robot system prototype. The designed robot system provides a design idea and implementation method for the clinical needs of rehabilitation training for the cooperative movement of human bilateral limbs.