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下肢康复机器人及其交互控制方法

胡进 侯增广 陈翼雄 张峰 王卫群

胡进, 侯增广, 陈翼雄, 张峰, 王卫群. 下肢康复机器人及其交互控制方法. 自动化学报, 2014, 40(11): 2377-2390. doi: 10.3724/SP.J.1004.2014.02377
引用本文: 胡进, 侯增广, 陈翼雄, 张峰, 王卫群. 下肢康复机器人及其交互控制方法. 自动化学报, 2014, 40(11): 2377-2390. doi: 10.3724/SP.J.1004.2014.02377
HU Jin, HOU Zeng-Guang, CHEN Yi-Xiong, ZHANG Feng, WANG Wei-Qun. Lower Limb Rehabilitation Robots and Interactive Control Methods. ACTA AUTOMATICA SINICA, 2014, 40(11): 2377-2390. doi: 10.3724/SP.J.1004.2014.02377
Citation: HU Jin, HOU Zeng-Guang, CHEN Yi-Xiong, ZHANG Feng, WANG Wei-Qun. Lower Limb Rehabilitation Robots and Interactive Control Methods. ACTA AUTOMATICA SINICA, 2014, 40(11): 2377-2390. doi: 10.3724/SP.J.1004.2014.02377

下肢康复机器人及其交互控制方法

doi: 10.3724/SP.J.1004.2014.02377
基金项目: 

国家自然科学基金项目(61225017, 61175076),国家国际科技合作专项项目(2011DFG13390)资助

详细信息
    作者简介:

    胡进 中国科学院自动化研究所博士研究生. 2005 年北京科技大学获学士学位. 主要研究方向为下肢康复机器人的训练策略和交互控制方法.E-mail: hujin8659@gmail.com

    通讯作者:

    侯增广, 中国科学院自动化研究所研究员. 主要研究方向为机器人控制, 智能控制理论与方法, 嵌入式系统软硬件开发,医学和健康自动化领域的康复与手术机器人. 本文通信作者.E-mail: zengguang.hou@ia.ac.cn

Lower Limb Rehabilitation Robots and Interactive Control Methods

Funds: 

Supported by National Natural Science Foundation of China(61225017, 61175076) and the International Science & Technology Cooperation Project of China (2011DFG13390)

  • 摘要: 瘫痪病人的数量与日俱增,其康复训练通常是一个长期的过程.相对于传统的理疗,使用机器人辅助康复训练能够提高效率,降低成本,减少理疗师的人员和体力消耗,因此节省了康复医疗资源,并且可以完成更加多样的主被动训练策略,从而提高了康复效果.根据患者进行康复运动时的身体姿态,下肢康复机器人可分以下4类: 坐卧式机器人、直立式机器人、辅助起立式机器人和多体位式机器人,坐卧式又细分为末端式和外骨骼式,直立式进一步划分为悬吊减重(Suspending body weight support,sBWS) 式步态训练机器人和独立可穿戴式机器人.由于下肢康复机器人是与运动功能受损的患肢相互作用,为了给患者创造一个安全、舒适、自然的训练环境,机器人和患者之间的交互控制不可或缺.根据获取运动意图时所使用的传感器信号,交互控制可以基本分为两类: 1)基于力信号的交互控制; 2)基于生物医学信号的交互控制.在基于力信号的交互控制中,力位混合控制和阻抗控制是最为常用的两种方法; 而在基于生物医学信号的交互控制中,表面肌电 (Surface electromyogram,sEMG) 和脑电(Electroencephalogram,EEG) 最常被用于运动意图的推断.
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