单自由度远程康复训练机器人系统设计

摘要

A 1-DOF robot-assisted telerehabilitation system is designed according to the demands of stroke sur-vivors and other people with upper-limb deformity. The master-slave system enables data communication through Internet by socket programming technology. Parameter-varying PID control ensures a better position tracing effect. Experiments show that telerehabilitation is basically realized, that is, the slave can follow the master' s movement driving the impaired upper-limb to exercise. Related experimental data can be recorded for further analysis.%构建了一套单自由度主从式远程控制康复训练机器人系统,治疗师通过网络远程监视患者的训练过程,借助主手带动远端患肢进行康复训练;患者在本地接收治疗师指令,在从手牵引下进行康复训练;通过Socket网络编程技术实现主从端通信;采用变系数控制实现治疗师对患者的运动控制.实验表明,治疗师可以通过主手驱动从手运动,从而带动患肢进行康复训练;相关实验数据得到记录以便后期分析;分析表明远程康复训练机器人系统具有可行性,为临床应用奠定了基础.