Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplin...Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.展开更多
目的系统评价肢体功能障碍患者对康复机器人应用体验的质性研究。方法检索PubMed、Web of Science、CINAHL、ProQuest、IEEE Xplore Digital Library、中国知网、维普、万方、中国生物医学文献数据库中的相关质性研究,检索时限为建库到2...目的系统评价肢体功能障碍患者对康复机器人应用体验的质性研究。方法检索PubMed、Web of Science、CINAHL、ProQuest、IEEE Xplore Digital Library、中国知网、维普、万方、中国生物医学文献数据库中的相关质性研究,检索时限为建库到2023年1月5日。依据澳大利亚JBI循证卫生保健中心质性研究质量评价标准进行质量评价,运用汇集性整合法来整合结果。结果共纳入16篇文献,提炼出55个研究结果,归纳整合成10个类别,综合得出3个整合结果:日渐显著的康复效果带来的身心益处、人-机器人交互中的多方障碍、着眼未来导向的用户期望。结论肢体功能障碍患者使用康复机器人感知到来自生理、心理与社会的益处,但仍面临着个体、机器人、环境等因素的挑战,需重视从优化功能设计、加强技能培训、控制成本和落地社区等方面来提升康复机器人的用户体验,以促进机器人在国内康复护理领域的推广应用。展开更多
基金Supported by National Key R&D Program of China(Grant No.2016YFE0105000)National Natural Science Foundation of China(Grant No.91848104)
文摘Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.
文摘目的系统评价肢体功能障碍患者对康复机器人应用体验的质性研究。方法检索PubMed、Web of Science、CINAHL、ProQuest、IEEE Xplore Digital Library、中国知网、维普、万方、中国生物医学文献数据库中的相关质性研究,检索时限为建库到2023年1月5日。依据澳大利亚JBI循证卫生保健中心质性研究质量评价标准进行质量评价,运用汇集性整合法来整合结果。结果共纳入16篇文献,提炼出55个研究结果,归纳整合成10个类别,综合得出3个整合结果:日渐显著的康复效果带来的身心益处、人-机器人交互中的多方障碍、着眼未来导向的用户期望。结论肢体功能障碍患者使用康复机器人感知到来自生理、心理与社会的益处,但仍面临着个体、机器人、环境等因素的挑战,需重视从优化功能设计、加强技能培训、控制成本和落地社区等方面来提升康复机器人的用户体验,以促进机器人在国内康复护理领域的推广应用。
