We present a neural rehabilitation robot for brain-injured people. Detailed structure and work principle and use method of the robot are described. The paper also explains the strategies to ensure safety of patients in robot structure and control mode. The training experiment of healthy subjects shows that the robot can satisfy the requirement of training and is suitable for clinical use.

The aim of this paper is to design an assisting therapy device, which can be used clinically for the rehabilitation training of shoulder joint in hemiplegic patients. Based on the character of shoulder joint from the angle of anatomy and etiology, the design demand of assistant therapy device was raised. The design of structure, function and control modes of the device was finished. Whole work of this paper forms a solid base for the final development of a therapy device.

Aim: To evaluate motor functional-loss of hemiplegic stroke patients by collecting and analyzing their surface electromyography(sEMG) of biceps muscle of arm, triceps muscle of arm and deltoid. Methods: Two hemiplegic stroke patients were selected in experimental group and two healthy persons in control group. Each subject performed shoulder joint flexion and extension. Mean amplitudes and mean frequencies of sEMG were analyzed. Results: The changes in the amplitudes and frequencies of sEMG showed that patients could not change their muscle force coordinately according to the load as healthy persons in active movement. The amplitudes of sEMG decreased in passive movement but decrement was lower than that of the healthy persons. Conclusion: Stroke patients are weaker in controlling their muscle voluntarily, and they cannot generate suitable force according to the need of finishing the movement and cannot change the muscle force coordinately. Trained by the therapists aided can lower muscle tone and facilitate rehabilitation process of patients.

中风偏瘫后患者肢体运动能力下降,原因之一是对肌肉的控制能力发生了改变.本文对健康受试者和患者肩关节完成相同动作时的表面肌电信号进行了比较,结果显示健康受试者的表面肌电信号与阻力矩的变化趋势更为一致,而偏瘫患者的肌电信号则显示出较大的差异.说明健康受试者能够根据动作所需而控制各肌肉协调发力,偏瘫患者对神经-肌肉系统的控制能力较差,是其运动功能下降的原因.

应用有限元软件 ANSYS的板单元和梁单元,建立不同的微小卫星整星结构的有限元模型.通过模态仿真分析计算结果讨论,得出微小卫星结构的质量分布对系统的固有频率及振动的影响程度.为后续整星结构有效载荷合理分布提供可靠的依据.

1 脑神经康复机器人研究进展 近些年来,国外的一些偏瘫康复研究机构另辟蹊径,尝试将机电设备引入偏瘫康复训练中,相继研制出一些偏瘫康复训练设备--治疗机器人(therapy robot),也称脑神经康复机器人(neuro-rehbilitation robot),辅助患者进行肢体康复训练.