Application of rubber artificial muscle manipulator as a rehabilitation robot
Application of rubber artificial muscle manipulator as a rehabilitation robot
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DOI：
10.1109/roman.1996.568779
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发表时间：
1996-11
期刊：
影响因子：
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通讯作者：
T. Noritsugu;T. Tanaka;T. Yamanaka
中科院分区：
文献类型：
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作者：
T. Noritsugu;T. Tanaka;T. Yamanaka
机器人在康复中的应用已经成为人们非常关注的问题。这项研究涉及功能恢复的运动是重要的康复任务之一。一些自动控制的机器已经实现了单关节的练习。现在，多关节运动成为人们所期望的，这就要求运动机器人具有多自由度，以产生更逼真的运动模式。这种机器人必须对人类绝对安全。由于空气可压缩性所带来的灵活性，气动计算器可能对这种机器人非常有效，因此采用气动驱动的橡胶人造肌肉机械手来构建具有二自由度的运动机器人。并采用阻抗控制策略来实现各种运动模式。在此基础上，提出了一种康复条件的识别方法，以实现有效的康复。实验结果表明了该康复机器人系统的有效性。
The application of robot to rehabilitation has become a matter of great concern. This study deals with an exercise for restoration of function being one of important rehabilitation tasks. An exercise of single joint has already been achieved with some automatically controlled machines. Now, the multijoint exercise becomes desirable, which requires the exercise robot with multi ple degrees of freedom to generate more realistic motion pattern. This kind of robot has to be absolutely safe for humans. A pneumatic calculator may be so effective for such a robot because of the flexibility from air compressibility that a rubber artificial muscle manipulator pneumatically driven is applied to construct the exercise robot with two degrees of freedom. Also an impedance control strategy is employed to realize various exercise motion modes. Further, an identification method of the recovery condition is proposed to execute the effective rehabilitation. Some experiments show the availability of proposed rehabilitation robot system.