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
引用本文: 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[J]. ROBOT, 2013, 35(5): 630-640. DOI: 10.3724/SP.J.1218.2013.00630
Citation: YANG Qizhi, CAO Dianfeng, ZHAO Jinhai. Analysis on State of the Art of Upper Limb Rehabilitation Robots[J]. ROBOT, 2013, 35(5): 630-640. DOI: 10.3724/SP.J.1218.2013.00630

上肢康复机器人研究现状的分析

Analysis on State of the Art of Upper Limb Rehabilitation Robots

  • 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.

     

    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.

     

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