关键词: 柔性康复, 主被动训练, 交互设计, 碰撞检测

Abstract:

Based on the characteristics of the traction and exoskeleton type upper limb rehabilitation robots, a novel flexible upper limb rehabilitation robot is developed. The training system of the robot combines elements of both the actively and passively mode. The Virtual Reality（VR） technology is introduced into the upper limb rehabilitation robot, and the optical 3D position acquisition in the real environment and the 3D position perception in the VR environment are adopted. The virtual dynamic model interactive node and collision detection experiment are designed to realize virtual reality interaction, the real-time effect of virtual model motion and the accuracy of upper limb rehabilitation training are improved. The integration of the VR and the novel rehabilitation robot provides the efficient training for patients with specific tasks.

Key words: flexible rehabilitation, active/passive training, interaction design, collision detection