上肢康复机器人研究现状的分析

doi:10.3724/SP.J.1218.2013.00630

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杨启志, 曹电锋, 赵金海. 上肢康复机器人研究现状的分析[J]. 机器人, 2013, 35(5): 630-640.DOI: 10.3724/SP.J.1218.2013.00630. YANG Qizhi, CAO Dianfeng, ZHAO Jinhai. Analysis on State of the Art of Upper Limb Rehabilitation Robots. ROBOT, 2013, 35(5): 630-640. DOI: 10.3724/SP.J.1218.2013.00630.

摘要

首先论述了上肢康复机器人研究的目的和意义，系统描述了目前国内外上肢康复机器人的研究成果．在此基础上，从机械设计角度深入分析了末端牵引式上肢康复机器人和外骨骼式上肢康复机器人的发展现状，并介绍了几种典型的上肢康复机器人的结构特点．最后，进一步讨论了目前上肢康复机器人，特别是外骨骼式上肢康复机器人，在机械设计方面存在的主要问题．

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关键词 ：上肢康复机器人, 末端牵引式, 外骨骼式机器人, 机械设计, 康复训练

Abstract：

After a description of the objectives and significance of upper limb rehabilitation robots, a comprehensive review of research achievements about upper limb rehabilitation robots at home and abroad is presented. Based on the review, state of the art of two types of rehabilitation robots is discussed mainly from mechanical design point of view, i.e. end-traction rehabilitation robot and wearable exoskeleton rehabilitation robot. Some typical upper limb rehabilitation robots' structure characteristics are analyzed. Finally, the main problems associated with existing upper limb rehabilitation robots are discussed from mechanical design perspective, focusing on the exoskeleton rehabilitation robots.

Key words： upper limb rehabilitation robot end-traction exoskeleton robot mechanical design rehabilitation training

收稿日期: 2012-12-03 录用日期: 2013-08-22

TP24

基金资助:

国家自然科学基金资助项目（50905077）；国家863计划重点资助项目（2010AA040201）；教育部高等学校博士学科点专项科研基金资助项目（20093227120007）；2011年度江苏省政府留学奖学金项目

通讯作者: 杨启志 E-mail: yqz_ujs@126.com

作者简介: 杨启志（1974- ），男，博士，教授．研究领域：机构学，机器人学，并联机构机器人及应用，机械动力学，智能机械等．
曹电锋（1986- ），男，硕士生．研究领域：康复机器人．
赵金海（1988- ），男，硕士生．研究领域：康复机器人，并联机构及机器人．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00630 或 https://robot.sia.cn/CN/Y2013/V35/I5/630

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