基于气动柔性驱动器的手腕运动康复装置

摘要

The several shortcomings exist in the traditional wrist rehabilitation training devices, such as lack of flexibility, complexi structure,high cost and so on. In order to solve the troubles above,this paper designs a wearable wrist rehabilitation device with the flexible pneumatic actuator which can be bended. And it briefly describes the design and manufacturing of this actuator and this de￣vice. The experiment result shows that the wrist can be driven by the rehabilitation device to do the rehabilitation training very wel,and it is flexible in its movement process.%针对传统的手腕康复训练器存在柔性不足，结构复杂，成本高昂等问题，基于一种可产生弯曲变形的气动柔性驱动器，设计出一种手腕运动康复装置。阐述了气动柔性驱动器和手腕康复装置的设计与制作方法，实验结果表明该手腕康复装置能有效地驱动手腕做运动康复训练，并具有很好的柔性。