基于Matlab的下肢康复机器人虚拟现实仿真研究*

作者：张立勋，张今瑜，王志超 日期：2008-04-17/span> 浏览：4092 查看PDF文档

基于Matlab的下肢康复机器人虚拟现实仿真研究*
张立勋，张今瑜，王志超
（哈尔滨工程大学 机电工程学院，黑龙江 哈尔滨 150001）

摘 要：针对腿部外伤和腿部运动功能障碍的患者康复治疗训练问题，提出了通过虚拟样机进行远程控制的康复机器人系统方案。以三维建模方法建立虚拟场景，结合虚拟现实建模语言(VRML)节点语法编辑完整的虚拟场景，介绍了Matlab环境下安装虚拟现实工具箱和搭建仿真框图的方法，根据卧式下肢康复机器人的工作原理仿真了康复训练过程，并达到了可视化的效果，从而进一步应用到了远程康复训练当中。
关键词：Matlab;虚拟现实;康复机器人;虚拟现实建模语言

Virtual reality simulation study for lower limb rehabilitation robot based on Matlab
ZHANG Li-xun, ZHANG Jin-yu, WANG Zhi-chao
(College of Mechanical & Electrical Engineering, Harbin Engineering University, Harbin 150001, China)

Abstract: According to the rehabilitation training problem for sufferer who has movement function handicap or traumatism for leg part, the rehabilitation robot system project through the medium of tridimensional modeling route to erect virtual scene was presented, then rounded virtual file by combining the virtual reality modeling language (VRML) node syntax was edited, and the methods for fixing virtual reality (VR) toolbox and erect simulation diagram under the condition of Matlab were introduced. Rehabilitation training process was simulated, based on the working principle for horizontal limb rehabilitation robot, and the effect of view was gained, which was applied to remote rehabilitation training.
Key words: Matlab; virtual reality (VR); rehabilitation robot; virtual reality modeling language (VRML)