摘要
利用机器人技术进行康复训练是康复治疗的重要手段之一。依据康复医疗训练机器人技术的发展意义及社会需求,结合该领域的研究背景、发展现状及趋势,回顾了国内外近些年来的研究进展和主要研究成果,分析了本地上肢康复训练机器人、基于网络的康复训练机器人和基于虚拟环境的康复医疗训练机器人的系统构造及其应用,着重介绍了一对多力觉辅助远程康复训练机器人系统的设计与特点,指出了待解决的问题,并分析了上肢康复医疗训练机器人在机械设计、控制器设计、力觉辅助、多路复用及评价策略等方面的发展趋势。
Stroke is common in the elderly society and robotics is one of the important methods for rehabilitation of stroke survivors and other people with upper-limb deformity. According to the significance and social needs of rehabilitation robot, combined with background and develop ment status in this field, progress and recent researches at home and abroad is reviewed. System structure and application of local rehabilitation robot for upper-limb, rehabilitation robot based on Internet and rehabilitation robot based on virtual environment are introduced respecti rely. Then the design and characters of multiplex force assistant tele-rehabilitation robot system is recommended in detail. The patients and the therapist are connected by Internet in server/client framework. The patients receive the command of the therapist and exercise at home. Not only video images but also position and force information is sent to the server. In this way, the therapists can monitor/control the training procedure of several patients and adjust ther apy planning according the status of rehabilitation. Main problems in this field are pointed out and development trends in mechanical design, controller design, force assistant, multiple xing and evaluation mechanism are emphasized.
出处
《机器人技术与应用》
2006年第4期32-36,共5页
Robot Technique and Application
关键词
机器人技术
力觉辅助
远程康复
虚拟环境
多路复用
robotics
force assistant
tele-rehabilitation
virtual environment
multiplexing
