康复机器人
物理医学与康复
计算机科学
机械臂
医学
人机交互
神经康复
医疗机器人
作者
Tobias Nef,Robert Riener
出处
期刊:International Conference on Rehabilitation Robotics
日期:2005-08-29
卷期号:: 57-60
被引量:145
标识
DOI:10.1109/icorr.2005.1501051
摘要
Task-oriented repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. ARMin is a new robot for arm therapy applicable to the training of activities of daily living in clinics. ARMin has a semi-exoskeleton structure with six degrees of freedom, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architecture. This paper describes the new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.
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