| 赵耀虹,夏昊,王自谦,李瑞琴.手腕康复机器人功能设计与外观设计[J].包装工程,2019,40(8):118-122. |
| 手腕康复机器人功能设计与外观设计 |
| Function and Appearance Design of Wrist Rehabilitation Robot |
| 投稿时间：2018-12-12 修订日期：2019-04-20 |
| DOI：10.19554/j.cnki.1001-3563.2019.06.020 |
| 中文关键词: 康复机器人 功能设计 工作空间 外观设计 |
| 英文关键词: rehabilitation robot function design workspace appearance design |
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| 中文摘要: |
| 目的 人体的手腕是活动中易损伤的关节，为辅助患者对手腕部位进行连续性标准化康复训练，设计一种结构紧凑、使用方便的手腕康复机器人。方法 根据康复医学原理确定腕关节的转动运动范围，设计一种3-RRP球面并联式外骨骼康复机器人。通过虚拟样机对康复机器人进行仿真实验。使用MATLAB求解康复机器人的工作空间。根据人机工程学对机器人进行外观安全设计。结果 该机器人有3个转动自由度，可实现腕关节掌屈/背伸、尺偏/桡偏、与小臂一起旋转运动。仿真实验表明该机器人可满足手腕关节康复训练要求，运行平稳，机器人的工作空间为球面的一部分，且连续无空洞。外形与色彩及人性化尺度设计使患者能够享受良好的医疗体验。结论 使用该机器人可以达到腕关节的康复效果，研究结果为手腕康复机器人的产品工业化设计奠定了理论基础。 |
| 英文摘要: |
| The wrist of human body is a joint that is easily damaged in activity. The work aims to design a parallel wrist rehabilitation robot with a compact, safe and flexible structure for assisting the patient to perform the continuous and standardized rehabilitation training of the wrist. According to the principle of rehabilitation medicine, the rotation range of wrist joint was determined and a 3-RRP spherical parallel exoskeleton rehabilitation robot was designed. The rehabilitation robot was simulated by virtual prototype. The workspace of rehabilitation robot was solved by MATLAB. According to ergonomics, the safety design of robot appearance was carried out. The robot had three rotational degrees of freedom and could realize the wrist palmar flexion/dorsi-extension motion, ulnar deviation/radial deviation motion, and rotational motion with the arm. The simulation results showed that the robot could satisfy the requirements of wrist rehabilitation training, and move stably. The workspace of the robot was a part of the spherical surface, and continuous without holes. The shape, color and humanized scale design enabled patients to enjoy a good medical experience. The rehabilitation effect of wrist joint movement can be achieved by the robot. The research results lay a theoretical foundation for the industrialized production of the wrist rehabilitation robot products. |
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