卧式下肢康复机器人控制策略研究  

Research on the Control Strategies for the Horizontal Lower Limbs Rehabilitative Robot

作　　者：孙洪颖[1] 李纬华[1] 

机构地区：[1]广东技术师范学院机电学院,广东广州510635

出　　处：《机电工程技术》2016年第7期9-13,共5页Mechanical & Electrical Engineering Technology

摘　　要：脑血管病后的大多数患者在康复过程中会经历软瘫期、痉挛期和恢复期三个阶段,不同康复阶段对肢体运动模式和训练方法的要求都会有所不同。以病患机理和运动功能康复理论为基础,从临床需求出发,针对下肢运动功能障碍患者的三级康复治疗过程提出了主被动控制策略和助力控制策略,并进行了实验研究。实验结果表明:被动控制策略实现了软瘫期和痉挛期的康复训练,主动控制策略实现了恢复期的康复训练,而助力控制策略实现了对肌力的强化训练。Most patients with cerebrovascular disease experience three stages during the rehabilitative process,which include flaccid paralysis period, convulsion period and convalescent period. The requirements of the patterns for limbs movement and the training methods are various in different stages of rehabilitation. Based on the pathogenesis of patients and the rehabilitation theory of the motor function rehabilitation and considered clinical requirements, the active-passive and power-assisted control strategies for three-phase rehabilitation on the lower limb motor dysfunction in patients are proposed and the experiments are carried out. The results show the passive control strategies can realize the rehabilitation exercises of the flaccid paralysis and convulsion periods, the active control strategies can achieve the rehabilitation exercise of convalescent period,and the power-assisted control strategies can reach the intensive training to muscles.

关 键 词：下肢康复机器人 三级康复治疗 控制策略 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]