将康复治疗人员的临床治疗经验与康复机器人的训练结合，能够有效提高已有下肢康复机器人的训练性能，为此提出一种基于加速度传感器的示教训练方法及无线数据采集系统。通过已有的外骨骼式下肢康复机器人，分析并推导出关节角度与末端轨迹的关系及关节加速度与关节角度的关系。通过加速度信息分析出轨迹信息从而控制训练轨迹。研发的无线数据采集系统提取康复师训练时患者下肢加速度信息并转化成轨迹信息，进而被用于康复机器人示教训练控制。实验结果证明，该系统能够满足康复机器人的示教训练要求。%It can effectively improve the training performance of rehabilitation robot by combining the clinical expe⁃rience of rehabilitation physician with rehabilitation robot training,and thus a teaching and training method based on the accelerometer and a wireless data acquisition system are proposed. Using the existing exoskeleton lower limb rehabilitation robot,the relationship between the joint angle and the end trajectory,and the relationship between the link acceleration and the joint angle are analyzed. The trajectory data is analyzed from the acceleration information , so the robot training trajectory can be controlled. Wireless data acquisition system developed collects the accelera⁃tion data when patient is trained by rehabilitation physician and transforms it into trajectory data ,which can be used for the control of teaching and training. The experimental results demonstrate that the system can satisfy the teach⁃ing and training requirements of rehabilitation robot.
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