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中文摘要：
针对由脑中风引起的偏瘫患者，提出了一种新型的5DOF外骨骼式上肢康复机器人．为激励患者肢体的主动运动意识，促进患肢康复，提出了机器人辅助运动模式．上肢复合运动力辅助控制通过实时获取各关节力矩信号来判断人体上肢的运动意图所产生的作用力方向与大小．为实时跟随患者上肢运动意图，利用比例控制器对肢体末端运动速度进行控制，从而驱动各关节完成运动．实验结果表明该方法较好地实现了患者肢体空间复合运动的实时力辅助．
英文摘要：
A novel 5 DOF exoskeletal upper-limb rehabilitation robot was implemented for hemiplegia caused by a stroke. To inspire alertness during active exercise and to promote rehabilitation of an impaired arm, a control meth- od was developed for assisted action during complex motion of upper limbs. Torque signals for each joint were ac- quired in real time to estimate the magnitude and the orientation of action caused by conscious movement. To follow the intention of hemiplegic patient＇s movement, a proportional controller was used to control terminal velocity to match motion. Experimental results show that the method presented effectively assists patients＇ complex arm movements in real time.
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