CAJ | 학술논문

　　目的设计一种用于上肢功能障碍康复训练的索控式机械装置。方法利用钢丝绳索传递动力；电机驱动设备集中安装在底座。建立装置的三维模型并利用运动分析软件对设计进行仿真分析。设计驱动-控制电路，对样机进行验证。结果和结论该装置能很好完成规划的训练动作，满足设计要求。利用实验样机实现了肩关节的助力训练。将样机的自主运动触发级别设置为3.6°以上能获得较好响应效果，并且能准确地识别使用者的运动意图。
　　목적설계일충용우상지공능장애강복훈련적색공식궤계장치。방법이용강사승색전체동력；전궤구동설비집중안장재저좌。건립장치적삼유모형병이용운동분석연건대설계진행방진분석。설계구동-공제전로，대양궤진행험증。결과화결론해장치능흔호완성규화적훈련동작，만족설계요구。이용실험양궤실현료견관절적조력훈련。장양궤적자주운동촉발급별설치위3.6°이상능획득교호향응효과，병차능준학지식별사용자적운동의도。
Objective To design upper limbs rehabilitation training system. Methods The system consisted of 3 dimension of freedom robotic arm, cable transmission component and central drive and control component. The central drive and control system were posed at the base and the movements were transmitted from the base to the upper 3 DOF robotic arm by the cable transmission component. 3 dimension-al model of the device were developed and the kinematic was simulated in SolidWorks. The first prototype was made and tested. Results and Conclusion The device could execute the designing training steps exactly and meet the design requirements. The system could recog-nize the intent of users exactly and response well when the auto-movement trigger angle was more than 3.6°.