传染病房护理机器人的应用现状与展望  

Application and Prospect of Nursing Robots in the Infectious Ward

作　　者：龚道雄 裴梦瑶 于建均 GONG Daoxiong;PEI Mengyao;YU Jianjun(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing 100124,China)

机构地区：[1]北京工业大学信息学部,北京100124 [2]计算智能与智能系统北京市重点实验室,北京100124

出　　处：《北京工业大学学报》2021年第5期540-550,共11页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(61673003);北京市自然科学基金资助项目(4192010)。

摘　　要：近20年来,各种烈性传染病先后肆虐全球,给世界人民的生命安全带来了极大的危害,也对各国经济的发展带来了极大的打击.医护机器人在抗疫工作中发挥了十分重要的作用.对各国的传染病房医护机器人研究和应用现状进行综述,并在此基础上给出下一代传染病房医护机器人有待解决的研究难点和关键技术,特别强调气动肌肉驱动机器人的类人运动控制、遥操作机器人符合操作者直觉的运动映射算法、从端机器人的类人触觉感知和力控制,以及机器人对一些特定护理技能的模仿学习等研究对于传染病房遥操作护理机器人系统的重要意义.Over the past 20 years,a variety of fatal infectious diseases have ravaged the world one after another,and caused great harm to both the life safety of the people and the economic development of all countries in the world.Nursing robots have played a critical role against these pandemics.A survey of the research and application of nursing robot in the pandemics around the world was presented in this paper.Important research focuses and key technologies for the next generation of nursing robots were proposed in the infectious ward,especially in the human-like motion control of the robot actuated by pneumatic artificial muscles,the motion mapping algorithms for intuitive teleoperation,the human-like tactile sensing and force control of the slave robot,and the imitation learning of the nursing skills.

关 键 词：传染病房护理机器人 遥操作机器人 气动肌肉 类人运动控制 类人触觉感知 模仿学习 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]