下肢康复机器人控制系统研究进展  

Research progress on control system of lower limb rehabilitation robot

作　　者：褚梦秋 佀国宁[1] 李根生[1] 徐飞 黄琬婷 刘婧芳[2] CHU Mengqiu;SI Guoning;LI Gensheng;XU Fei;Huang Wanting;LIU Jingfang(College of Medical Instrument and Food Engineering,University of Shanghai for Science andTechnology,Shanghai 200093;College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124)

机构地区：[1]上海理工大学医疗器械与食品学院,上海200093 [2]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《北京生物医学工程》2018年第6期643-649,656,共8页Beijing Biomedical Engineering

基　　金：国家自然科学基金(51475015)资助

摘　　要：下肢康复机器人可以帮助患者进行科学有效的步态训练,而控制系统作为整个设备的核心部分,其性能的好坏直接影响康复训练的稳定性。因此,对下肢康复机器人控制系统的归纳总结能够为了解控制系统的研发现状及进一步研究提供重要参考。本文结合国内外研究现状对下肢康复机器人控制系统进行分类,总结典型控制系统的原理和特点,并对该领域的未来发展趋势进行了预测和展望。Lower limb rehabilitation robot can help patients to carry out scientific and effective gaittraining, and the control system as the core part of the whole equipment, its performance directly affects thestability of rehabilitation training. Therefore, summarizing the control system of lower limb rehabilitation robotcan provide an important reference for relevant researchers to understand the development status and furtherstudy of the control system. This paper combines the research status at home and abroad to classify the lowerlimb rehabilitation robot control system, summarizes the principle and characteristics of the typical controlsystem, and finally predicts and forecasts the future development trend of the field.

关 键 词：下肢康复机器人 步态训练 外骨骼 控制系统 

分 类 号：R318[医药卫生—生物医学工程] R496[医药卫生—基础医学]