作　　者： (刘志辉）; (孙奕）; (唐智）; (袁涛）; (孔繁磊）; (王生泽）;

机构地区： 东华大学机械工程学院,上海201620

出　　处： 《东华大学学报（自然科学版）》 2017年第4期535-540,共6页

摘　　要： 针对外骨骼上肢康复机器人自由度受限的问题,根据上肢关节运动机理对上肢结构进行模型简化,提出一种改进的7自由度外骨骼上肢康复机器人结构设计,并对运动支撑的各部分单元进行结构建模和分析,根据安全人机工程学进行了康复运动系统的电气设计与控制研究.研究结果表明,该7自由度外骨骼上肢康复机器人在结构设计上更加符合人因工学,控制机制优化,安全性能良好,为实现后期的实时控制与运动规划奠定了基础. Aiming at the limited degree of freedom of exoskeleton rehabilitation robot, the model of upper limb movement was simplified according to the mechanism of upper limb joint movement. An improved 7-DoF exoskeleton upper limb rehabilitation robot structure design was proposed, and the motion support parts of the unit were modeled and analyzed. Electrical design and control research of rehabilitation exercise system were carried out according to safety ergonomics. The results show that the 7-DoF exoskeleton upper limb rehabilitation robot is more suitable for human engineering, the control mechanism is optimized and the safety performance is good, which lays a solid foundation for realizing the real-time control and motion planning in the later stage.

关 键 词： 外骨骼机器人 上肢康复 机构设计 控制