体感控制的上肢外骨骼镜像康复机器人系统

为辅助患肢进行自主康复训练，研制了一种体感控制的上肢外骨骼镜像康复机器人系统。设计了可穿戴式三自由度上肢康复机械臂，利用Kinect传感器提取人体6个骨骼关节点数据，计算所需控制参数，将健肢的体势动作转化为控制信号，控制机械臂带动患肢做镜像或同步运动康复训练。搭建了上肢外骨骼康复机器人系统实验平台，分别进行了单关节镜像控制和多关节联动同步控制穿戴实验，系统具有良好的体感控制随动性能，能满足上肢康复训练的要求。

Upper-limb Exoskeletal Mirror Rehabilitation Robot Systems Based on Motion Sensing Control

In order to assist affected-limb to perform rehabilitation training，an upper-limb exoskeletal mirror rehabilitation robot systems was developed based on motion sensing control.A 3-DOF wearable robot for upper-limb rehabilitation was designed.Skeleton data of 6 joints were collected by Kinect sensors which were converted into control signals after calculations.The control commands were sent to upper-limb exoskeletal robot to assist affected-limb to perform mirror or synchronous rehabilitation training.Experimental platform of upper-limb exoskeletal rehabilitation robot system was built up，and experiments about single joint mirror control and multi-joint synchronous control were carried out.The results prove that this system has good performance of following control，and may meet the training requirements for upper-limb rehabilitation.