公开(公告)号：US20130060171A1

公开(公告)日：2013-03-07

申请号：US13667028

申请日：2012-11-02

申请人： NATIONAL TAIWAN UNIVERSITY

发明人： LI-CHEN FU ,  WEI-WEN WANG ,  CHENG-CHANG HO ,  YEN-YU CHOU

IPC分类号： A61H1/02

CPC分类号： A61H1/0274 ,  A61H1/00 ,  A61H1/02 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H2201/1635 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2203/0431 ,  A61H2205/06 ,  B25J9/0006

摘要： A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists' experiences into the apparatus to simulate therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm having first to eighth arm segments, and a high-precision control system for controlling movements of the multi-axis robotic arm. The control system provides an active, a passive and an auxiliary mode; receives and computes information about a patient's movements and muscle force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses. A method of controlling the apparatus is introduced.

摘要翻译： 根据实证法建立康复训练器具，在康复过程中引进物理治疗师的经验，用手模拟手术。 该装置包括具有第一至第八臂段的多轴机器人手臂和用于控制多轴机器臂的运动的高精度控制系统。 控制系统提供主动，被动和辅助模式; 接收和计算关于由多轴机器人手臂中提供的电位器和力传感器检测到的患者运动和肌力的信息; 因此，驱动致动器施加辅助力或抵抗力以帮助患者完成康复训练。 该装置还包括一个人性化的操作界面，医生或物理治疗师可以通过该界面获得相关康复数据，以便进行康复治疗课程的评估和调整。 介绍了一种控制装置的方法。