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    • 5. 发明申请
    • REHABILITATION AND TRAINING APPARATUS AND METHOD OF CONTROLLING THE SAME
    • 康复及训练装置及其控制方法
    • US20090281465A1
    • 2009-11-12
    • US12166656
    • 2008-07-02
    • Li-Chen FuWei-Wen WangCheng-Chang HoYen-Yu Chou
    • Li-Chen FuWei-Wen WangCheng-Chang HoYen-Yu Chou
    • A61H1/00
    • A61H1/0274A61H2201/5007A61H2201/5061A61H2203/0431
    • A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists' experiences into the apparatus to simulate the therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm, and a high-precision control system. The control system provides three operating modes, including an active, a passive, and an auxiliary mode; receives and computes information about a patient's movements and produced 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 and repeating 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 also provided.
    • 根据实证法建立康复训练器具,将物理治疗师的经验引入手术室,以便在康复过程中用手模拟手术。 该装置包括多轴机器臂和高精度控制系统。 控制系统提供三种工作模式,包括有源,无源和辅助模式; 接收并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产生的力的信息; 因此,驱动致动器以施加辅助力或抵抗力来帮助患者完成并重复康复锻炼。 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。 还提供了一种控制该装置的方法。