A prototype of the master slave telerehabilitation robotic system with force feedback is developed.This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise.A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely.A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately.By using the two-port network theory and the circuit equivalent impedance models,the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise.Experiments were conducted with a healthy male.Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot.Compared with the traditional therapy,this system is more cost-efficient,more convenient and safer for both the stroke patients and the clinicians.%设计了一种力觉辅助主从式远程康复训练机器人系统,该系统由主机械臂和从机械臂构成,二者通过Internet网络相连.治疗师在医院操纵主机械臂,远地从机械臂跟踪治疗师的运动,可以使患者在家或社区康复中心进行康复训练.从机械臂及其控制器用于引导患肢关节进行安全准确地伸展和运动.主机械臂及其控制器用于远程控制和监测患者的训练过程,并对输出数据进行分析,评估训练效果.基于二端口理论和电路等小阻抗模型,设计了力反馈-位置型的控制结构来实现力反馈,使治疗师可以及时感知到患者训练过程中与机械臂的交互力.在此基础上,建立了一套单自由度远程康复训练机器人系统,对一名健康男性进行了实验研究,结果表明治疗师可以通过操纵主机械臂引导实验对象训练并感受到实验对象与从机器人的交互力信息.与传统的康复方法相比,该方式无论对于医生和患者都更为经济方便.
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