摘要
目的随着老龄人口与脑卒中患者数量的不断增加,以及辅助治疗成本的增长,老龄服务及康复需求问题日益突出。康复机器人的开发及应用,将成为未来解决老龄问题的重要手段,具有积极的理论价值和现实意义。它融合了人工智能、机器人学、机械、生物力学、信息科学及康复医学等诸学科相关知识,逐渐发展成为医疗机器人领域的一个重要分支,成为学界研究热点。在此背景下,对康复机器人研究与应用进展进行述评,梳理康复机器人技术的演进历程。方法基于文献成果、大学实验室研究动态及产业调查,分析了康复机器人功能分类、人机交互方式及其关节角度与力矩、肌电信息感知融合与控制、力反馈控制、空间运动检测等关键技术。分析上肢、下肢康复机器人的发展状况。结论提出康复机器人HRI人机交互安全性、人机工程及人机界面设计中存在的问题及发展趋势,以期为学界后续研究提供有益的借鉴。
With the increasing number of the aged population and stroke patients, and the increasing cost of adjuvant treatment, the problem of the needs of the aged service and rehabilitation becomes more and more seriously. The development of research and application of rehabilitation robot will become an important means to solve the problem of aging in the future, which has positive theoretical value and practical significance. It combines knowledge of artificial intelligence, robotics, mechanics, biomechanics, information science and rehabilitation medicine, and gradually becomes an important branch in the field of medical robot, and become a hot spot in academic. In this paper, we review the research and application progress of rehabilitation robot, and sorts out the evolution process of rehabilitation robot technology. Based on the literature results, the research dynamics of the university laboratory and the industrial surveys, we analyze Based on the research outcome from reference, university Labs and industries, summarized the rehabilitation robot＇s function, classification, interactive way, key technology, including the joint angle, joint torque, s EMG, force feedback, and space motion detection technology, analyzed the development status of the upper-limb and low–limb rehabilitation robots. We put forward the problems and development trends in design of Human-Robot Interaction security, Human-Robot Engineering and Human-Robot interface of rehabilitation robot. We hope to provide useful reference for subsequent research in the academic world in future.
作者
王秋惠
魏玉坤
刘力蒙
WANG Qiu-hui;WEI Yu-kun;LIU Li-meng(School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China;College of Engineering,Purdue University,West Lafayette 47907,USA)
出处
《包装工程》
CAS
北大核心
2018年第18期83-89,共7页
Packaging Engineering
基金
国家自然基金(71641021)
全国老龄委老龄政策理论研究部级课题(QLB2018A053)
关键词
康复机器人
关键技术
人机交互
研究应用进展
rehabilitation robot
Human-robot technology
Human-robot interaction
review
