Design and Research of 7-DOF upper-limb rehabilitation robot flexible joint

被引：0

作者：

Ma, Xinpo ^{[1
]}

Yang, Qizhi ^{[1
,2
]}

Cai, Jing ^{[2
]}

Sun, Mengtao ^{[2
]}

Song, Junpeng ^{[1
]}

机构：

[1] Jiangsu Univ, Sch Mech Engn, Inst Intelligent Robot, Zhenjiang 212013, Peoples R China

[2] Jiangsu Univ, Sch Agr Equipment Engn, Zhenjiang 212013, Peoples R China

来源：

IEEE ICARM 2016 - 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2016年

关键词：

Rehabilitation robot; Soft elastic element; Flexible joint;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In traditional rehabilitation robot design, the dynamic system of rigid was used in each joint of rehabilitation robot, which the motor and reducer, etc as a drive unit. The design of joint has a greater impact load in medical application because of its deficiency soft elastic element. This impact load not only makes damage to normal operation of the robot, even may cause secondary damage to patients. In recent years, the rope dive was designed in power systems by some researchers, but the drive system was complex and the control was of difficulty and instability. Therefore, it is necessary to design a kind of flexible joint to overcome the effect on the stability of the impact load on the rehabilitation robot system.

引用

页码：614 / 619

页数：6

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