Advances in rehabilitation robots driven by variable stiffness actuator
Patients with mobility disorders can be assisted by rehabilitation robots for the recovery of motor function.Traditional rehabilitation robots with rigid actuators cannot adapt to the unpredictability of human-robot integration.However,variable stiffness actuators with inherent flexibility can actively adjust the stiffness and reduce the impact force,which is conducive to improving the safety of human-robot interaction in rehabilitation robots.In this paper,the variable stiffness actuator was divided into two categories:mechanical variable stiffness actuator and artificial muscle actuator.The design principle of variable stiffness actuator and the application status in rehabilitation robots were summarized at home and abroad.The problems of the current variable stiffness actuator applied in rehabilitation robots were analyzed,and the development trend of the rehabilitation robot was prospected.
万方数据
维普
