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5 二自由度气动机械臂结构简图及坐标系构建

Fig.5 Structure diagram of two-degree-of-freedom pneumatic manipulator and coordinate system construction