ADDITIONAL DESIGN FEATURES OF A MASTER–SLAVE CONTROL SYSTEM WITH FORCE SENSING AND ENERGY RECYCLING FOR UPPER LIMB REHABILITATION ROBOTS
ADDITIONAL DESIGN FEATURES OF A MASTER–SLAVE CONTROL SYSTEM WITH FORCE SENSING AND ENERGY RECYCLING FOR UPPER LIMB REHABILITATION ROBOTS
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DOI：
10.1080/10739149.2010.508322
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发表时间：
2010-10
影响因子：
1.6
通讯作者：
Chunguang Li;Y. Inoue;Tao Liu;K. Shibata;K. Oka
中科院分区：
文献类型：
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作者：
Chunguang Li;Y. Inoue;Tao Liu;K. Shibata;K. Oka
传统的上肢康复机器人通常使用力传感器或阻抗控制器来实现力反馈。否则，不同训练模式所需的辅助或抵抗力都由机器人给出，不能充分调动患者的积极性。介绍了一种自控上肢康复机器人，它不需要力传感器，也不需要阻抗控制器就可以实现力传感。该系统支持不同训练模式的双手练习，其中一个肢体为对侧肢体提供适当的力量。通过初步的实验验证了上述特点和一种能量循环的主从式运动跟踪能力。
Traditional upper-limb rehabilitation robots usually realize force feedback with force sensors or impedance controllers. Otherwise, assistant or resistant force required in different training modes is given by the robot, which does not motivate the initiative of patients sufficiently. This article introduces a self-controlled upper-limb rehabilitation robot to implement force sensing without a force sensor or an impedance controller. The system supports bimanual exercises in different training modes with one limb providing a proper force for the contralateral limb. The above characteristics and the capability of master–slave motion tracking with a kind of energy recycling were verified with preliminary experiments.