CAJ | 학술논문

构建了一套单自由度主从式远程控制康复训练机器人系统,治疗师通过网络远程监视患者的训练过程,借助主手带动远端患肢进行康复训练;患者在本地接收治疗师指令,在从手牵引下进行康复训练;通过Socket网络编程技术实现主从端通信;采用变系数控制实现治疗师对患者的运动控制.实验表明,治疗师可以通过主手驱动从手运动,从而带动患肢进行康复训练;相关实验数据得到记录以便后期分析;分析表明远程康复训练机器人系统具有可行性,为临床应用奠定了基础.
구건료일투단자유도주종식원정공제강복훈련궤기인계통,치료사통과망락원정감시환자적훈련과정,차조주수대동원단환지진행강복훈련;환자재본지접수치료사지령,재종수견인하진행강복훈련;통과Socket망락편정기술실현주종단통신;채용변계수공제실현치료사대환자적운동공제.실험표명,치료사가이통과주수구동종수운동,종이대동환지진행강복훈련;상관실험수거득도기록이편후기분석;분석표명원정강복훈련궤기인계통구유가행성,위림상응용전정료기출.
A 1-DOF robot-assisted telerehabilitation system is designed according to the demands of stroke sur-vivors and other people with upper-limb deformity. The master-slave system enables data communication through Internet by socket programming technology. Parameter-varying PID control ensures a better position tracing effect. Experiments show that telerehabilitation is basically realized, that is, the slave can follow the master' s movement driving the impaired upper-limb to exercise. Related experimental data can be recorded for further analysis.