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混联式腕关节康复机构的运动学仿真及康复效果评估

李清 赵立婷 刘荣帅 丰玉玺 张鹏

李清,赵立婷,刘荣帅, 等. 混联式腕关节康复机构的运动学仿真及康复效果评估[J]. 机械科学与技术,2022,41(12):1839-1843 doi: 10.13433/j.cnki.1003-8728.20200518
引用本文: 李清,赵立婷,刘荣帅, 等. 混联式腕关节康复机构的运动学仿真及康复效果评估[J]. 机械科学与技术,2022,41(12):1839-1843 doi: 10.13433/j.cnki.1003-8728.20200518
LI Qing, ZHAO Liting, LIU Rongshuai, FENG Yuxi, ZHANG Peng. Kinematic Simulation and Efficacy Evaluation of Hybrid Wrist Joint Rehabilitation Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2022, 41(12): 1839-1843. doi: 10.13433/j.cnki.1003-8728.20200518
Citation: LI Qing, ZHAO Liting, LIU Rongshuai, FENG Yuxi, ZHANG Peng. Kinematic Simulation and Efficacy Evaluation of Hybrid Wrist Joint Rehabilitation Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2022, 41(12): 1839-1843. doi: 10.13433/j.cnki.1003-8728.20200518

混联式腕关节康复机构的运动学仿真及康复效果评估

doi: 10.13433/j.cnki.1003-8728.20200518
基金项目: 山西省自然科学基金项目(201901D111132)与山西省高校科技成果转化培育项目(2020CG035)
详细信息
    作者简介:

    李清(1966−),副教授,博士,研究方向为机构理论与机器人装备,liqingliqing999@163.com

  • 中图分类号: TH112

Kinematic Simulation and Efficacy Evaluation of Hybrid Wrist Joint Rehabilitation Mechanism

  • 摘要: 针对腕关节损伤或功能性退化患者,基于(2-RPS/UPU)&R混联机构提出一种可穿戴式腕关节康复机器人。用SolidWorks进行三维建模,导入Adams中进行正逆运动学仿真,在整个仿真过程中,曲线光滑,没有突变点,说明该腕关节康复机器人稳定性好,安全性强。利用AnyBody提取康复训练时腕关节处肌肉相关力学的变化参数,并对康复效果进行评估,结果表明该机器人带动手腕做康复运动时,腕关节周围肌肉的活动度和收缩情况符合康复医学的相关规律,不会对肌肉造成二次伤害,满足受损腕关节的康复需求。
  • 图  1  混联式腕关节康复机构

    图  2  前臂周长调节机构

    图  3  动平台质心点速度仿真结果

    图  4  动平台质心点运动轨迹

    图  5  移动副位移曲线

    图  6  掌屈/背伸康复训练

    图  7  掌屈/背伸肌肉活动量

    图  8  掌屈/背伸肌肉长度

    图  9  内收/外展康复训练

    图  10  内收/外展肌肉活动量

    图  11  内收/外展肌肉长度

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  • 被引次数: 0
出版历程
  • 收稿日期:  2020-08-02
  • 网络出版日期:  2023-02-16
  • 刊出日期:  2022-12-05

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