Research and Control of Wearable Robot for Wrist Rehabilitation

被引：0
|
作者：
Chikurtev, Denis [1 ]
Stoev, Petko [1 ]
机构：
[1] Bulgarian Acad Sci, Inst Informat & Commun Technol, Sofia, Bulgaria
来源：
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2022 | 2022年 / 120卷
关键词：
Rehabilitation robot; Wearable robot; Control; Tele-operation;
D O I：
10.1007/978-3-031-04870-8_42
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The article presents a rehabilitation robot for wrist movement. The robot is designed to move the wrist in all directions - flexion-extension and radial-lunar. Themechanical construction of the robot, its hardware, software and control systems are presented. The kinematic equations for control of the final unit are described. Based on the study of the kinematic movements of the wrist, a control method is created. After simulation experiments, the obtained result of the robot's work is presented, where it can be seen that the robot successfully performs movements close to those of the natural wrist.
引用
收藏
页码：359 / 366
页数：8
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