图  1  五自由度外骨骼式上肢康复机器人

Fig.  1  Five degree-of-freedom exoskeleton upper limb rehabilitation robot

图  2  外骨骼机器人运动学分析

Fig.  2  Kinetic analysis of robotic exoskeleton

图  3  主动交互训练控制器结构框图

Fig.  3  Control diagram of active interaction exercises

图  4  无模型自适应滑模控制器结构图

Fig.  4  Structure of model free adaptive sliding mode control

图  5  交互力传感器分布图

Fig.  5  Distribution of interaction force sensor

图  6  交互力矩信号$\tau_{h1}$滤波效果比较

Fig.  6  Filtering performance comparison of interaction torque $\tau_{h1}$

图  7  虚拟现实引导界面

Fig.  7  Guiding interface in virtual reality

图  8  SimMechanics模型结构

Fig.  8  Structure of SimMechanics model

图  9  摩擦力矩与角速度的关系

Fig.  9  The relationship between joint friction torques and angular velocity

图  10  各关节交互力矩原始信号

Fig.  10  The original signal of each joint interaction torque

图  11  补偿力$F_{gy}$对主动训练末端轨迹的影响

Fig.  11  The impact of compensation force $ F_ {gy} $ to the end trajectory of active training

图  12  刚度系数$K_1$对主动训练末端轨迹的影响

Fig.  12  The impact of stiffness coefficient $ K_1 $ to the end trajectory of active training

图  13  五自由度主动交互训练仿真中主要变量的状态变化

Fig.  13  Control results of five degree-of-freedom active interaction training exercise

图  14  三自由度主动交互训练仿真中主要变量的状态变化

Fig.  14  Control results of three degree-of-freedom active interaction training exercises