摘要
脑瘫步态康复机器人可以克服传统步态康复手段治疗师人数、精力、经验不足等缺点,提供持续、高特异性和高强度的康复辅助治疗。本文总结了初步临床的脑瘫步态康复机器人的研究现状,并探讨了相关技术的不足与发展方向。首先,对脑瘫病理特点、运动症状和传统康复手段的不足进行了介绍。然后,对14款典型脑瘫步态康复机器人从机械结构、病例特性及临床实验设计等3个方面进行综述。进而,从脑瘫步态康复机器人的设计思路、整体结构、辅助形式和辅助关节以及临床试验的受试者、辅助策略、实验设计和临床评估等方面讨论分析了现有研究的局限性,并对相关技术的发展趋势进行展望。
Gait rehabilitation robot for cerebral palsy provides continuous,high-specificity and high-intensity rehabilitation adjuvant therapy,which overcomes the shortcomings of traditional gait rehabilitation methods,such as insufficiency of therapists in staff number,energy and experience.Research status of preliminary clinical gait rehabilitation robot for cerebral palsy is summarized,and the deficiency and the development direction of related technologies are discussed.First of all,the pathological characteristics of cerebral palsy,motor symptoms and the shortcomings of traditional rehabilitation methods are introduced.Then,14 typical gait rehabilitation robots for cerebral palsy are summarized from three aspects,mechanical structure,subject characteristics and clinical trial design.Furthermore,the limitations of current researches are discussed and analyzed from the aspects of the design concept,overall structure,auxiliary pattern and auxiliary joint of gait rehabilitation robots for cerebral palsy,as well as the subject,auxiliary strategy,experimental design and clinical evaluation of the clinical trial,and the development trends of related technologies are prospected.
作者
朱志浩
石斌
王晶
ZHU Zhihao;SHI Bin;WANG Jing(Harbour Academy of Frontier Equipment,Xi’an Jiaotong University,Xi’an 710049,China;Shaanxi Provincial Key Laboratory of Intelligent Robots,Xi’an Jiaotong University,Xi’an 710049,China)
出处
《机器人》
EI
CSCD
北大核心
2023年第5期626-640,共15页
Robot
基金
深圳市科技计划(JSGG20201102145602006).
关键词
脑瘫
步态康复
下肢机器人
临床研究
cerebral palsy
gait rehabilitation
lower limb robotics
clinical research
