Thiết kế và chế tạo robot hỗ trợ vật lý trị liệu

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Tác giả: Hữu Toàn Trần

Ngôn ngữ: Vie

Ký hiệu phân loại: 629.8 Automatic control engineering

Thông tin xuất bản: Tạp chí Khoa học và Công nghệ - Trường Đại học Công nghiệp TP.HCM, 2021

Mô tả vật lý: 57-64

Bộ sưu tập: Metadata

ID: 404257

Thêm vào giỏ Liên kết toàn văn

Nhận thức được tầm quan trọng, những thách thức vềhọc thuật cũng như xu hướng phát triển của các loại robot xương khớp ngoài, bài báo trình bày vềviệc thiết kế và chế tạo một mẫu robot xương khớp ngoài hỗ trợ quá trình vật lý trị liệu cho phầnchi trên. Những nghiên cứu ban đầu vềđặc tính cơ sinh đối với chi khớp trên (từvai đến bàn tay) của con người giúp cho chúng tôi cónhững cơ sởđểphân tích đặc điểm vàxác định các yêu cầu thiết kế. Dựa vào những yêu cầu vềmặt công suất vàhỗtrợlực, các phương án truyền động vàcác lựa chọn cơ cấu được đưa ra. Từđó, chúng tôi phát triển một nguyên mẫu của robot xương khớp ngoài với tên gọi làRAR(Rehabilitation Assistance Robot) với các bản vẽthiết kế, chếtạo vàtiến hành gia công nguyên mẫu của robot. ĐểRARlàm việc vàthao tác hỗtrợngười bệnh, các thiết kếđiều khiển vàlập trình cho robot RARđược thực hiện dựa trên nền tảng chếđộđiều khiển thời gian thực, kèm theo một bảng điều khiển các chếđộlàm việc cho người sửdụng. Robot được đánh giávềhiệu quảứng dụng thông qua các bài tập mẫu vềvật lýtrịliệu trên người khỏe mạnh vàmột sốbệnh nhân., Tóm tắt tiếng anh, Inspired by the difficulties behind specification requirements as well as realizing the applicable capacity of upper exoskeleton robots, this paper presents the design and development of an upper extremity limb exoskeleton for human assistance in rehabilitation. The exoskeleton has been designed through the analysis of human factors engineering, biomechanics, and dynamics properties of the human upper limb. Based on the requirements of the exoskeleton's power and the torques of human joints, the solutions of mechanism, actuator for the robot have been drawn. As a contribution to robotic exoskeletons field, we present an original prototype of Rehabilitation Assistance Robot (RAR). During development of the RAR, a basiccally control network has been developed to increase the ability of integration, and ensure real-time control performance besides a custom-built control panel for users. The robot's applicable efficience has been evaluated through several rehabilitation traning tests on both healthy persons and patients as fundamental criteria in theexoskeleton development

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