下肢康复机器人的研究进展与临床应用  

Research Progress and Clinical Application of Lower Limb Rehabilitation Robot

作　　者：石男强 刘刚峰[1] 郑天骄 李文胜 麦晓明 朱延河[1] 赵杰[1] SHI Nanqiang;LIU Gangfeng;ZHENG Tianjiao;LI Wensheng;MAI Xiaoming;ZHU Yanhe;ZHAO Jie(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China;Electric Power Research Institute of Guangdong Power Grid Co.,Ltd.,Guangzhou 510080,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]广东电网有限责任公司电力科学研究院,广东广州510080

出　　处：《信息与控制》2021年第1期43-53,共11页Information and Control

基　　金：国家重点研发计划资助项目(2017YFB1302301);广东电网有限责任公司科技项目(GDKJXM20173040)。

摘　　要：社会老龄化进程中,由于疾病或事故导致下肢受损的患者越来越多,患者的运动能力康复变得尤为重要.相对于传统的物理康复治疗方法,利用下肢康复机器人进行运功功能康复训练可以准确评估、大幅改善康复效果,提高康复效率,节约医疗康复资源.作为一种涉及康复医学、机械学、控制学、机器人学、计算机学及人工智能等诸多学科的智能仿生机电设备,下肢康复机器人按照患者的康复作业姿态主要分为坐卧式下肢康复机器人和站立式下肢康复机器人.其中坐卧式下肢康复机器人可以分为脚踏板式和外骨骼式机器人,站立式下肢康复机器人分为悬挂减重式和独立可穿戴式机器人.本文调研了国际上应用较为广泛的几类下肢康复机器人的代表性产品,详细分析了下肢康复机器人的主被动自由度、驱动方式、传动关节、感知技术、运动控制策略和训练模式等关键技术,并对各类机器人典型临床测试案例进行了比较和探讨,对下肢康复机器人未来的技术发展做出展望.Due to the social aging process,an increasing number of patients are experiencing lower-limb injuries caused by diseases or accidents,which makes the rehabilitation of their exercise ability particularly important.Compared with the traditional physical rehabilitation method,the lower-limb rehabilitation robot can more accurately evaluate and greatly improve the effect and efficiency of rehabilitation,thereby saving medical rehabilitation resources.Lower-limb rehabilitation robots comprise intelligent bionic mechanical and electrical equipment based on developments in the fields of rehabilitation medicine,mechanics,control,robotics,computer science,artificial intelligence,and many others.These robots are mainly categorized as either sitting/horizontal or standing lower-limb rehabilitation robots,according to the patients'rehabilitation posture.The sitting/horizontal lower-limb rehabilitation robot can be further divided into the pedal and exoskeleton types,and the standing lower-limb rehabilitation robot is divided into the suspension weight-loss robot and independent wearable robot.In this paper,we investigate several representative products involving lower-limb rehabilitation robots that are widely used around the world.Key technologies related to the active and passive degrees of freedom,driving mode,transmission joint,sensing technology,motion control strategy,and training mode of lower-limb rehabilitation robots are analyzed in detail.The typical clinical test cases of various robots are compared and discussed,and future technological developments are forecasted.

关 键 词：下肢康复机器人 临床应用 康复医学 智能仿生机电设备 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]