柔性外骨骼机器人在下肢康复训练中的应用研究进展  

Research progress on the application of flexible exoskeleton robots in lower limb rehabilitation training

作　　者：周政 韩晓凤(综述) 张辛[2] 王健全(审校)[2] ZHOU Zheng;HAN Xiaofeng;ZHANG Xin;WANG Jianquan(Tianjin Institute of Physical Education,Tianjin 301617,China;Department of Sports Medicine,Peking University Third Hospital,Beijing 100191,China;Capital Institute of Physical Education,Beijing 100913,China)

机构地区：[1]天津体育学院,天津301617 [2]北京大学第三医院运动医学科,北京100191 [3]首都体育学院,北京100913

出　　处：《重庆医学》2023年第15期2368-2373,共6页Chongqing medicine

基　　金：北京市科技专项计划项目(Z22111000350000);北京大学第三医院院队列建设项目(BYSYDL2021014)。

摘　　要：机电技术与智能科技的崛起推动了外骨骼康复机器人研究领域的发展。由于疾病致残率上升和老年人口增加,为患者提供康复和辅助服务的先进方案显得日益重要。研究证实,使用下肢康复机器人可有效改善患者步态,但临床应用的外骨骼种类有限。现有的康复机器人可分为两类:以刚性连接驱动结构设计,如Lokomat、Rewalk、Ekso和HAL;以柔性连接结构设计,如Myosuit外骨骼机器人、XoSoft和聚氯乙烯(PVC)-外骨骼等。柔性康复机器人作为近年来出现的一种新型外骨骼机器人,能有效地解决传统刚性外骨骼机器人体积重量大、顺应性差、束缚多等问题,已成为机器人主动康复领域的重要方向之一。作者总结了柔性外骨骼康复机器人在康复训练中的优势及局限性,论述了下肢柔性外骨骼机器人近年在临床康复中的应用及其未来的应用前景,为下肢柔性外骨骼机器人的医工交叉研究提供参考。The rise of electromechanical and intelligent technology has promoted the development of research on exoskeleton rehabilitation robots.Due to the increasing rates of disability and the growing geriatric population,there is a growing need for advanced rehabilitation and assistive services for patients.Studies have confirmed that the use of lower limb rehabilitation robots can effectively improve patients'gait.However,the availability of exoskeletons for clinical application is limited.Existing rehabilitation robots can be divided into two categories:structural designs driven by rigid connections,such as Lokomat,Rewalk,Ekso,and HAL.Designed with flexible connection structures,such as the Myosuit exoskeleton robot,XoSoft,and PVC-exoskeleton,flexible rehabilitation robots have emerged as a new type of exoskeleton robot in recent years.They effectively address the limitations of traditional rigid exoskeleton robots,such as their large volume,weight,poor compliance,and numerous constraints.As a result,flexible rehabilitation robots have become an important focus in the field of active rehabilitation of robots.The authors summarize the advantages and limitations of flexible exoskeleton rehabilitation robots in rehabilitation training.This paper discusses the recent application of lower limb flexible exoskeleton robots in clinical rehabilitation and explores their future prospects.It also serves as a reference for the medical-industrial cross-research of lower limb flexible exoskeleton robots.

关 键 词：柔性外骨骼机器人 步态训练 医工结合 康复机器人 综述 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] R493[自动化与计算机技术—控制科学与工程]