脑损伤上肢康复机器人及其临床应用研究  

Review on Upper-limb Rehabilitation Robots for Patients with Brain Injury and Clinical Applications

作　　者：何畅[1,2] 熊蔡华[1,2] 陈文斌[1,2] HE Chang;XIONG Caihua;CHEN Wenbin(Institute of Medical Equipment Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074;State Key Laboratory of Intelligent Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074)

机构地区：[1]华中科技大学医疗装备科学与工程研究院,武汉430074 [2]华中科技大学智能制造装备与技术全国重点实验室,武汉430074

出　　处：《机械工程学报》2023年第19期65-80,共16页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52027806,U1913601,52075191,U1913205)。

摘　　要：综合运用现代医学和工程科学方法,研制重塑受损脑神经环路的康复机器人,是人机共融机器人学前沿研究的重要科学目标,也是当前国际上亟待破解的难题之一,面临医学、信息科学、机械工程等多学科的挑战。以人体上肢康复机器人为对象,系统深入地剖析了当前最先进的上肢康复机器人及其临床应用情况,具体从人肢体自然运动规律及其机械复现原理,机械运动、神经刺激原理,人-机主被动协调控制等角度,比较了当前各种康复装备的特点,讨论了肢体康复机器人的未来发展趋势,阐述了脑损伤康复机器人走向临床应用需要破解的关键核心技术问题。Using modern medicine and engineering scientific methods to develop rehabilitation robots for reconstructing damaged brain neural circuits and pathways is an important scientific goal in the areas of cutting-edge research on human-machine coordinated robotics,and also one of the current international problems to be solved,facing the challenges of medicine,information science,mechanical engineering and other disciplines.Taking human upper limb rehabilitation robot as the object,this research systematically and deeply analyzes the state-of-the-art upper limb rehabilitation robots and their clinical applications.Specifically,it compares the characteristics of various current rehabilitation robots from the perspectives of natural movement of human limb and its mechanical reproduction principle,mechanical and neural stimulation principle,human-machine coordinated control,and etc.The future development trend of human limb rehabilitation robots is discussed,and the key technical problems to be solved in the clinical applications of rehabilitation robots for patients with brain injury are expounded.

关 键 词：人机共融机器人 脑神经环路 机械复现原理 人机协同控制 临床应用 

分 类 号：TG156[金属学及工艺—热处理]