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

摘要：

根据末端牵引式和外骨骼式上肢康复机器人的特性，研制了一种新型的柔性上肢康复机器人。机器人的康复训练系统结合了主动和被动模式的要素，将虚拟现实（VR）技术引入上肢康复机器人，通过现实环境中的光学3D位置捕获以及VR环境中的3D位置感知，设计了虚拟动态模型交互性节点和碰撞检测实验，实现虚拟现实交互，提高虚拟模型运动实时效果和上肢康复训练精度。VR和新颖的康复机器人的集成为具有特定任务的患者提供了有效的训练。

关键词: 柔性康复, 主被动训练, 交互设计, 碰撞检测