康复辅助机器人及其物理人机交互方法  

Physical Interaction Methods for Rehabilitation and Assistive Robots

作　　者：彭亮[1] 侯增广[1,2,3] 王晨 罗林聪 王卫群[1] PENG Liang;HOU Zeng-Guang;WANG Chen;LUO Lin-Cong;WANG Wei-Qun(State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences（CAS）,Beijing 100190;University of Chinese Academy of Sciences,Beijing 100049;CAS Center for Excellence in Brain Science and Intelligence Technology,Beijing 100190)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学,北京100049 [3]中国科学院脑科学与智能技术卓越创新中心,北京100190

出　　处：《自动化学报》2018年第11期2000-2010,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(61720106012;U1613228;61603386;61533016);北京市自然科学基金(L172050;Z170003);中国科学院战略性先导科技专项(XDBS01040100)资助~~

摘　　要：面对中国社会快速老龄化现状和庞大的残疾人群,康复辅助机器人研究具有重要学术价值和广阔的应用前景.康复辅助机器人研究涉及神经科学、生物力学、机器人自动控制等领域知识,是机器人最具挑战性和最受关注的研究领域之一.与其他机器人不同,康复辅助机器人的作用对象是人,存在人与机器人的信息交流和能量交换,物理人机交互控制方法是其研究核心和关键技术.本文以神经康复机器人、穿戴式外骨骼、智能假肢等应用为例,介绍当前的研究现状,并重点介绍人体运动意图识别方法和交互控制方法等研究重点和难点.最后展望该领域的未来技术发展方向.With the rapid growth of China s aging and disabled population, researches on rehabilitation and assistive robots have great value to technical study and good prospects for applications. Rehabilitation and assistive robots involve the domain knowledge of neuroscience, biomechanics, robot automatic control, etc., thus are one of the most challenging and most concerned research areas of robotics. As the application contexts of rehabilitation and assistance entail information communication and energy exchange between man and robot, the physical human-robot interaction control method is the key theme. This article briefly introduces the states of the art of neurorehabilitation robots,wearable exoskeletons, and intelligent prostheses, and focuses on the key issues and research priorities in human motion intent detection methods and interaction control methods. Finally, the future development directions are prospected.

关 键 词：康复机器人 辅助机器人 物理人机交互 意图识别 交互控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]