球面手腕康复机构逆运动学解新方法及应用

焦文杰,姬帅旭,郝惠敏,黄家海,李利娜,李诗雨

New method and application of inverse kinematic solution for spherical wrist rehabilitation mechanism

Wen-jie JIAO,Shuai-xu JI,Hui-min HAO,Jia-hai HUANG,Li-na LI,Shi-yu LI

表 1 手腕活动范围

Tab.1 Wrist range of motion

活动方式 $\gamma$/(°) 屈曲( F) $ 0\sim75 $ 伸展(E) $ 0\sim75 $ 内收(A) $ 0\sim45 $ 外展(O) $ 0\sim20 $ 旋内(M) $ 0\sim76 $ 旋外(L) $ 0\sim85 $