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Development of a Human Upper Limb-like Robot for Master-slave Rehabilitation

机译：开发人类上肢类似机器人，用于主奴隶康复

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摘要

Master-slave rehabilitation systems are superior to traditional robotic rehabilitation systems on the respect of enhancing therapists' abundant experience. In this paper, a human upper limb-like robot which can mimic the spasticity of stroke patient is proposed as the master device. Therapists can operate this device to perform rehabilitation. In order to mimic the severe spasticity of patients, the device is required to exert high torque. Therefore, high reduction gear was mounted on a stepping motor. As a result, the device becomes non-backdrivable, which decreases its operability. Many researches have ever proposed the admittance control, Series Elastic Actuator (SEA) to solve this problem. Considering about the conditions of our device, admittance control can be realized with a high-accuracy load cell. However, a load cell induces instabilities and high cost. Similar with the SEA, a new structure is proposed in this paper. Two elastic bars are applied to connect the robot's forearm and upper arm. By detecting the bending of these bars, the interaction force exerted on this robot can be calculated. The tiny bending is enlarged with a long bar so that the deformation of elastic bars can be more accurately detected with an optical mouse. To evaluate the efficacy of proposed structure, experiments were conducted to exert three levels resistance using the device. Experimental results show that the proposed structure is effective, and the exerted resistance can be adjusted with it.
机译：主奴隶康复系统优于传统的机器人康复系统，即加强治疗师丰富的经验。本文提出了一种可以模仿中风患者痉挛的人上肢状机器人作为主装置。治疗师可以操作该设备以进行康复。为了模仿患者的严重痉挛，需要该装置施加高扭矩。因此，高减速齿轮安装在步进电机上。结果，该设备变得不可反应，这降低了其可操作性。许多研究已经提出了进入控制，系列弹性执行器（海）来解决这个问题。考虑到我们的设备的条件，可以使用高精度负载单元实现进入控制。然而，称重传感器诱导不稳定和高成本。与海洋类似，本文提出了一种新的结构。施加两个弹性条以连接机器人的前臂和上臂。通过检测这些杆的弯曲，可以计算在该机器人上施加的相互作用力。用长条放大微小的弯曲，使得通过光学鼠标可以更精确地检测弹性条的变形。为了评估所提出的结构的功效，使用该装置进行实验以施加三个水平的电阻。实验结果表明，所提出的结构是有效的，并且可以用它调节施加的电阻。

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