帕金森病康复机器人研究综述与展望  

A Survey and Perspective on Rehabilitation Robots for Patients Suffering from Parkinson’s Disease

作　　者：游煜根 侯玮佳[3] 于宁波 张松[1,2] 于洋 朱志中[3] 党宇[1,2] 秦岩丁[1,2] 赵新刚 巫嘉陵 韩建达[1,2] YOU Yugen;HOU Weijia;YU Ningbo;ZHANG Song;YU Yang;ZHU Zhizhong;DANG Yu;QIN Yanding;ZHAO Xingang;WU Jialing;HAN Jianda(College of Artificial Intelligence,Nankai University,Tianjin 300350,China;Tianjin Key Laboratory of Intelligent Robotics,Nankai University,Tianjin 300350,China;Department of Rehabilitation Medicine,Tianjin Huanhu Hospital,Tianjin 300350,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Department of Neurology,Tianjin Huanhu Hospital,Tianjin 300350,China)

机构地区：[1]南开大学人工智能学院,天津300350 [2]南开大学天津市智能机器人技术重点实验室,天津300350 [3]天津市环湖医院康复医学科,天津300350 [4]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [5]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [6]天津市环湖医院神经内科,天津300350

出　　处：《机器人》2022年第3期368-384,共17页Robot

基　　金：国家自然科学基金(U1913208,61873135);机器人学国家重点实验室开放课题(2016-003);中央高校基本科研业务费。

摘　　要：总结了目前帕金森病康复机器人的研究现状,并探讨了相关技术的未来发展方向。首先,通过与脑卒中对比,重点介绍帕金森病的病理特点、运动症状、康复机理和治疗原则。然后,从上肢运动康复、下肢运动康复、震颤抑制以及病情评估等4个方面对目前帕金森病康复机器人及相关技术进行综述。进而,讨论分析了现有研究的局限性,并对机器人辅助帕金森病康复技术进行展望。特别指出,基于帕金森病的病理特点和康复机理,需要着重突破“脑―肌―肢”协同的专病康复技术。State of the art of Parkinson’s disease(PD) rehabilitation robots is summarized and the development directions of related technologies are discussed. First of all, pathological characteristics, motor symptoms, rehabilitation mechanisms and therapeutic principles are presented for Parkinson’s disease in comparison with stroke. Then, a comprehensive survey on the state of the art of PD rehabilitation robots and technologies is given from aspects of upper-limb rehabilitation, lowerlimb rehabilitation, tremor suppression, and severity assessment techniques, respectively. Further, the limitations of current researches are analyzed, and the future directions of robot-assisted PD rehabilitation technologies are discussed. Specifically,based on the pathological characteristics and rehabilitation principles of Parkinson’s disease, it is necessary to develop PDspecific brain-muscle-limb fused rehabilitation technologies.

关 键 词：帕金森病 康复机器人 神经退行性病变 “脑―肌―肢”协同康复 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]