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首页> 外文会议>Haptics Symposium, 2010 >Haptic system for hand rehabilitation integrating an interactive game with an advanced robotic device
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Haptic system for hand rehabilitation integrating an interactive game with an advanced robotic device

机译：用于手部康复的触觉系统，将交互式游戏与先进的机器人设备集成在一起

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A haptic system for hand rehabilitation is presented that combines robotics and interactive virtual reality to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid (ERF) based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game. Proof of concept testing was performed on the virtual environment to analyze the use interaction of haptic feedback and a virtual game.
机译：提出了一种用于手部康复的触觉系统，该系统结合了机器人技术和交互式虚拟现实技术，可以为从神经系统运动障碍中康复的患者重复执行特定任务的锻炼。两自由度机器人接口允许前臂和手的协调运动（分别为前旋/俯卧和抓握/松开）。它由两个基于电流变液（ERF）的新型液压执行器驱动。进行了测试以表征这些执行器，并针对其力/转矩控制开发了前馈控制器。开发了虚拟现实环境（迷宫游戏），其中当用户导航环境时，机器人将力场施加给用户，从而在患者和游戏之间形成触觉界面。在虚拟环境上进行了概念验证测试，以分析触觉反馈和虚拟游戏的使用交互。

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