关键词: 手功能康复机器人；气动肌肉；运动功能训练；虚拟现实技术

Abstract:

A novel wearable robot of hand repetitive therapy was developed for stroke and traumatic brain rehabilitation.The robot
driven by pneumatic muscles can help patients to complete repetitive training task for
motion function rehabilitation of their fingers’ joints. The robot had three degrees of freedom,which was equipped with three angle sensors and two force sensors to acquire the state of the human-robot hybrid system.At the same time, virtual reality technology
was used to build a virtual rehabilitation environment in the system in order to enhance the patient’s interest and optimize the effect of rehabilitation.Finally,a conventional PID controller was implemented and the cubic spline function trajectory tracking control for joint’s angles was realized.Experiments were performed to confirm
the effectiveness of the proposed device and methods.

Key words: hand rehabilitation robot;pneumatic muscle;motion function training;virtual reality technology