下肢镜像骨骼机器人结合动态平衡陀螺仪对步态训练研究的综述  

A Review of Gait Training for Lower Limb Mirror Skeleton Robot Combined with Dynamic Balance Gyroscope

作　　者：梁硕 张政 李志国 刘仁洁 武生辉 许熠路 LIANG Shuo;ZHANG Zheng;LI Zhi-guo;LIU Ren-jie;WU Sheng-hui;XU Yi-lu(Shandong Medical College,Shandong Jinan 250002)

机构地区：[1]山东医学高等专科学校,山东济南250002

出　　处：《中国医疗器械信息》2024年第21期73-75,共3页China Medical Device Information

摘　　要：文章旨在探讨下肢镜像骨骼机器人结合陀螺仪在瘫痪患者下肢康复训练中的应用及在康复过程中陀螺仪数据对解决问题的作用。概述该方法的原理和优势以及对下肢康复任务的设计,详述利用下肢骨骼机器人结合三维陀螺仪对下肢关节及骨骼肌训练模式,并列举了多种利用三维陀螺仪结合下肢镜骨骼机器人对下肢康复评定;同时也指出了在应用过程中可能面临的挑战及未来的研究方向。下肢镜像骨骼机器人与陀螺仪结合应用为进一步完善康复训练模式提供了理论根据,为瘫痪患者下肢运动异常的康复训练提供了新的思路和方法。未来下肢镜像骨骼机器人将向多技术融合发展,其普及化和低成本化使其成为应对瘫痪患者因步态异常导致的不能回归正常社会生活和家庭生活的有效方案,具有重要的现实与社会意义。The article aims to explore the application of a lower limb mirror skeleton robot combined with a gyroscope in the rehabilitation training of paralyzed patients'lower limbs,and the role of gyroscope data in solving problems during the rehabilitation process.Overview of the principle and advantages of this method,as well as the design of lower limb rehabilitation tasks.Elaborate on the training mode of lower limb joints and skeletal muscles using a lower limb skeletal robot combined with a 3D gyroscope,and list various methods of evaluating lower limb rehabilitation using a 3D gyroscope combined with a lower limb endoscope skeletal robot;At the same time,it also pointed out the challenges that may be faced in the application process and future research directions.The combination of lower limb mirror bone robots and gyroscopes provides a theoretical basis for further improving rehabilitation training modes,and offers new ideas and methods for rehabilitation training of paralyzed patients with lower limb movement abnormalities.In the future,lower limb mirror bone robots will develop towards multi technology integration,and their popularization and low cost make them an effective solution to deal with paralyzed patients who cannot return to normal social and family life due to gait abnormalities,which has important practical and social significance.

关 键 词：下肢机器人 动态平衡陀螺仪 瘫痪 康复评定 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]