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11 做画圆动作时气动机械臂末端X、Y向轨迹及其关节轨迹对比

Fig.11 Comparison of X and Y directional trajectories of end and joint trajectories of pneumatic manipulator during drawing a circle