康复机器人柔顺变刚度驱动机构研究进展

doi:10.3969/j.issn.1006-9771.2021.00.002

Abstract

Abstract:

Flexible variable stiffness actuator is divided into four categories including elastic element, pneumatic element, electric-magnetic element and intelligent material. It is gradually applied in rehabilitation robot. It could adapt the change of patient's impedance in the upper and lower limb rehabilitation robots, ensure the safety of the wearer in the exoskeleton, and improve the biomimetics in the prosthesis. Variable stiffness driving mechanism for rehabilitation robot still has some disadvantages. It is proposed to have compact structure, low power consumption, good stiffness characteristics, high response rate and progressive output torque curve, etc.

Key words: variable stiffness, flexiblity, rehabilitation robot, review

CLC Number:

R496

Sheng LU,Bing-shan HU,Ke CHENG,Hong-liu YU,Wei NI. Advance in Flexible Variable Stiffness Actuator of Rehabilitation Robot (review)[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(6): 627-636.

Figures/Tables 25

References 35

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Advance in Flexible Variable Stiffness Actuator of Rehabilitation Robot (review)

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