| 基于虚拟现实技术的三自由度上肢康复机器人系统 |
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| 引用本文： | 秦江伟,贾晋杰,李成求. 基于虚拟现实技术的三自由度上肢康复机器人系统[J]. 机电产品开发与创新, 2013, 0(6): 17-19 |
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| 作者姓名： | 秦江伟 贾晋杰 李成求 |
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| 作者单位： | 大连海事大学装备学院,辽宁大连116026 |
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| 摘 要： | 研究了一套基于虚拟现实技术的3自由度上肢康复机器人系统.机器人传递运动部分采用连杆机构和3重轴;控制单元采用数字信号处理器（DSP）,绝对式编码器采集各轴旋转位置、方向信息,磁粉制动器实现各轴的负载、制动;人机交互方面,患者操作机器人末端手柄做虚拟现实技术开发的虚拟游戏.该系统能够提高患者的主动性和实现3自由度康复训练运动.
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| 关 键 词： | 上肢 机器人 数字信号处理器 虚拟现实技术 康复 |
A 3 Degree of Freedom Upper Limbs Rehabilitation Robot System Based on Virtual Reality Technology |
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| QIN Jiang-Wei,JIA Jin-Jie,LI Cheng-Qiu. A 3 Degree of Freedom Upper Limbs Rehabilitation Robot System Based on Virtual Reality Technology[J]. Development & Innovation of Machinery & Electrical Products, 2013, 0(6): 17-19 |
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| Authors: | QIN Jiang-Wei JIA Jin-Jie LI Cheng-Qiu |
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| Affiliation: | (Institute of Equipment, Dalian Maritime University, Dalian Liaoning 116026, China) |
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| Abstract: | To design a set of 3 DOF （degree of freedom） upper limbs rehabilitation robot system. Robot transmission parts adopt hnk mech- anism and 3 axes. The digital signal processor（DSP） is adopted to accomplish robot control, absolute encoder collects the position and direction of each axis rotation, magnetic powder is adopted to realize each shafr＇s load and brake; In the aspect of human-computer interaction, through the control of end handle, patients do virtual games which are developed by virtual reality technology. The system can improve the patient initiative and realize three degrees of freedom rehabilitation training exercise. |
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| Keywords: | upper limbs robot digital signal processor virtual reality technology rehabilitation |
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