摘要
常规的上肢康复治疗多采用人工的物理疗法,为辅助患肢进行便捷康复训练。该文设计一种可穿戴上肢康复机器人的技术原型装置,包括机械结构、健侧模块、患侧模块和主控模块。其中,健侧模块利用六轴陀螺仪采集实时肘关节运动角度数据,经过卡尔曼滤波方法滤除干扰,改善信号的稳定性;主控模块包括医师引导和患者健侧肢体自主控制两种康复训练模式,对患者上肢受损程度进行康复训练。实验中机器人能成功采集并分析数据,其运动角度范围与正常的肘关节屈伸活动范围相同,能够辅助肘关节完成屈曲/伸展康复训练任务。此上肢康复机器人结构方便穿戴于人体,为上肢肢体功能障碍的患者康复训练提供了一种新的途径。
As the conventional upper limb rehabilitation therapy mostly adopts artificial physical therapy,a technical prototype device for a wearable upper limb rehabilitation robot is designed to assist the affected limb to carry out convenient rehabilitation training,which includes the mechanical structure,healthy⁃side module,affected⁃side module,and main control module.In the health⁃side module,the six⁃axis gyroscope is used to collect real⁃time data of the elbow joint motion angle,and the Kalman filtering method is used to filtering the interference to improve the signal′s stability.The main control module includes two kinds of rehabilitation training modes:physician guidance and patient′s healthy⁃side limb autonomous control,which are used for the rehabilitation training of the degree of upper limb damage in patients.In the experiment,the robot collected and analyzed data successfully,and the range of its motion angle is the same as that of normal elbow flexion and extension,which can assist elbow to complete flexion/extension rehabilitation training task.The structure of the upper limb rehabilitation robot is convenient to wear on the human body and it also provides a new way for rehabilitation training of patients with upper limb dysfunction.
作者
朱西昆
张明慧
逯鹏
陈海洋
王汉章
ZHU Xikun;ZHANG Minghui;LU Peng;CHEN Haiyang;WANG Hanzhang(School of Electrical Engineering,Zhengzhou University,Zhengzhou 450001,China;Henan Engineering Laboratory of Robot Perception and Control,Zhengzhou 450001,China;Institute of Information Science and Technology,Zhengzhou Normal University,Zhengzhou 450044,China;Henan Collaborative Innovation Center of Internet Medical and Healthcare,Zhengzhou 450001,China)
出处
《现代电子技术》
2021年第4期168-172,共5页
Modern Electronics Technique
基金
河南省科技攻关项目:智能机器人控制理论与关键技术(172102310393)
河南省引智项目:机器人感知与控制(GZS2019008)。
关键词
可穿戴机器人
上肢康复训练
信息采集
肘关节屈伸
结构设计
实验测试
wearable robot
upper limb training
information collection
elbow flexion and extension
structure design
experiment testing
