体感交互式上肢镜像康复训练机器人系统

刘庆祥,郭冰菁,韩建海,李向攀,黄明祥

Somatosensory interactive upper-limb mirror rehabilitation training robot system

Qing-xiang LIU,Bing-jing GUO,Jian-hai HAN,Xiang-pan LI,Ming-xiang HUANG

图3 气动机械臂的PD+速度前馈补偿控制策略框图

Fig.3 Block diagram of PD + speed feedforward compensation control strategy of pneumatic manipulator