一种上肢康复机器人及其康复评估应用研究  

Research on an Upper Limb Rehabilitation Robot and its Application in Rehabilitation Evaluation

作　　者：张明亮 欧阳睿智 郭立泉 熊大曦[1,2] ZHANG Mingliang;OUYANG Ruizhi;GUO Liquan;XIONG Daxi(School of Biomedical Engineering(Suzhou),Division of Life Sciences and Medicine,University of Science and Technolo-gy of China,Jiangsu Suzhou 215163,China;Suzhou Institute of Biomedical Engineering and Technology,Chinese Acade-my of Sciences,Jiangsu Suzhou215163,China;Suzhou Xiangcheng People’s Hospital,Jiangsu Suzhou215131,China)

机构地区：[1]中国科学技术大学苏州生物医学工程学院(苏州),生命科学与医学部,江苏苏州215163 [2]中国科学院苏州生物医学工程技术研究所,江苏苏州215163 [3]苏州市相城人民医院,江苏苏州215131

出　　处：《机械设计与制造》2025年第3期338-342,349,共6页Machinery Design & Manufacture

基　　金：苏州市科技发展计划(SYG201705)。

摘　　要：针对由脑卒中等疾病引起的上肢运动障碍患者,设计了一种桌面式上肢康复机器人,实现辅助患者进行主被动康复训练。采用PID控制器、模糊PID控制器对电机输出推力、转角和转速进行控制,并开展了控制系统验证实验。同时,搭建了一个基于神经网络的上肢运动功能评估模型,对患者的运动功能进行量化评分。邀请医师对患者上肢的运动功能进行评分,并将医师评分与模型评分进行对比。实验结果表明,电机输出推力、转角和转速控制系统从激励到稳定的时间分别为0.61,0.67和0.32s,超调量均为0。所提出的评估模型评分与医师评分的误差绝对值均值为2.47。评估模型准确率为82.86%,模型评分与医师评分相关系数为0.989。所提出的上肢康复机器人及上肢运动功能评估模型具有较大的临床应用价值。Aiming at the patients with upper limb movement disorder caused by stroke,a desktop upper limb rehabilitation robot was designed to assist the patients in active and passive rehabilitation training.PID controller and fuzzy PID controller were used to control the thrust,angle and speed of motor,and verification experiments of the control system were carried out.At the same time,an upper limb motor function evaluation model based on neural network was built to score the motor function of patients quantitatively.Doctors were invited to evaluate the motor function of the patient's upper limbs,and the doctor's scores were compared with the scores given by the model.The experimental results show that the time from excitation to stability of the motor thrust,angle and speed control system is 0.61,0.67 and 0.32s respectively,and the overshoots are all 0.The mean value of absolute error between the scores given by the model and doctors'scores is 2.47.The accuracy of the evaluation model is 82.86%,and the correlation coefficient between the scores given by the model and doctor's scores is 0.989.The proposed upper limb rehabilitation robot and the motor function evaluation model have great clinical application value.

关 键 词：脑卒中 运动障碍 机器人 康复训练 运动评估 神经网络 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]