CAJ | 학술논문

针对脑中风引起的偏瘫患者，提出了一种新的基于虚拟现实技术上的上肢康复机器人系统。该系统主要由上肢外骨骼装置，触觉装置，电机控制器和工作站组成。患者穿戴上肢外骨骼机构，安装在患者患侧，通过电机带动外骨骼运动从而使患者患侧运动。在外骨骼运动过程中，通过力反馈机构将患者受力或施力反馈到三维触觉操作器，进而反馈给对其辅助治疗的医生。
침대뇌중풍인기적편탄환자，제출료일충신적기우허의현실기술상적상지강복궤기인계통。해계통주요유상지외골격장치，촉각장치，전궤공제기화공작참조성。환자천대상지외골격궤구，안장재환자환측，통과전궤대동외골격운동종이사환자환측운동。재외골격운동과정중，통과력반궤궤구장환자수력혹시력반궤도삼유촉각조작기，진이반궤급대기보조치료적의생。
For the patients with hemiplegia caused by cerebral apoplexy, this paper presents a new upper limb rehabilitation robot system based on Virtual Reality Technology. The system is mainly form of an upper limb exoskeleton device, PHANTOM, the motor controller and workstation. Patients wearing upper limb exoskeleton mechanism, installed in the patients with side, in the move of the exoskeleton that help patients do exercise. In the process of moving the exoskeleton, through the force feedback mechanism will feedback the force to the PHANTOM, then feedback to the doctor.