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脑卒中和脑外伤带来的偏瘫等后遗症给患者生活与工作带来巨大的不便。腕部是人们日常工作生活的重要器官,针对具有腕功能障碍的患者,设计了一款外骨骼式三自由度便携腕部康复机器人。该机器人具有掌屈/背屈、内翻/外翻、内收/外收三个自由度,采用Maxon电机驱动。能够带动患者手腕进行三自由度运动,从而使患者进行有效的康复训练。传统的腕部康复机器人体积质量大、价格贵、局限于医院使用。该设备具有同时具备三个自由度、结构紧凑、体积小重量轻、便于携带等优点,患者可在包括家庭内的多种环境下使用。利用UG软件对设备进行了运动学仿真与分析,证明了其可行性,并对设备进行病人实验论证其可行性。
Sequelae such as hemiplegia caused by stroke and traumatic brain injury bring great inconvenience to patients’ life and work. The wrist is an important organ of people’s daily work and life. For the patients with wrist dysfunction, a wrist with exoskeleton three degrees of freedom portable wrist rehabilitation robot is designed. The robot has palmar flexion / dorsiflexion, varus / valgus, adduction / admissions of three degrees of freedom, using Maxon motor drive. Can drive the patient’s wrist for three degrees of freedom exercise, so that patients with effective rehabilitation training. The traditional wrist rehabilitation robot volume and quality, expensive, confined to the hospital. The device has the advantages of having three degrees of freedom at the same time, compact structure, small size, light weight, easy to carry, etc., and the patient can be used in a variety of environments including the home. The software of UG was used to simulate and analyze the kinematics of the device, which proved its feasibility and demonstrated the feasibility of the device for patient experiments.