可穿戴式下肢外骨骼康复机器人研究进展

doi:10.13973/j.cnki.robot.220256

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丁逸苇, 涂利娟, 刘怡希, 张冀聪, 帅梅. 可穿戴式下肢外骨骼康复机器人研究进展[J]. 机器人, 2022, 44(5): 522-532.DOI: 10.13973/j.cnki.robot.220256. DING Yiwei, TU Lijuan, LIU Yixi, ZHANG Jicong, SHUAI Mei. Progress of Wearable Lower-limb Exoskeleton Rehabilitation Robots. ROBOT, 2022, 44(5): 522-532. DOI: 10.13973/j.cnki.robot.220256.

摘要对于脊髓损伤、脑损伤等因素导致下肢运动障碍的患者，利用下肢外骨骼康复机器人可在患者损伤早期进行精准康复，并在康复过程中优化康复策略。本文详细对比了下肢外骨骼康复机器人相比于传统康复方法的优势，并结合国内外研究现状阐述了不同外骨骼机器人的设备特点及应用场景，详细分析了机器人的驱动方式、控制系统以及训练模式等关键技术。最后，着重探讨了下肢外骨骼康复机器人未来发展所面对的挑战，并针对机械结构优化、驱动算法优化、康复流程智能化、基于虚拟现实技术的应用场景优化及康复效果评估等5方面提出了可行的探讨，对下肢外骨骼康复机器人未来的技术发展趋势作出可行分析。

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	丁逸苇
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关键词 ：下肢外骨骼康复机器人, 智能仿生机械设备, 康复医学, 脊髓损伤康复

Abstract：For patients with lower-limb movement disorders caused by spinal cord injury, brain injury, and other factors, the lower-limb exoskeleton rehabilitation robot can be applied to performing precise rehabilitation in the early stage of the patient injury, and optimizing the rehabilitation strategy during the rehabilitation process. This paper compares the advantages of lower-limb exoskeleton rehabilitation robots over the traditional rehabilitation methods, and expounds the equipment characteristics and application scenarios of different exoskeleton robots based on the research status at home and abroad. The key technologies for exoskeleton rehabilitation robots are analyzed in detail, including driving methods, control systems, and training modes. Finally, the challenges to lower-limb exoskeleton rehabilitation robots in future development are emphatically discussed, and feasible discussions are put forward from five aspects, such as mechanical structure optimization, driving algorithm optimization, intelligent rehabilitation process, application scenario optimization based on virtual reality technology, and evaluation of rehabilitation effect. The future technology trends of the lower-limb exoskeleton rehabilitation robot are analyzed feasibly.

Key words： lower-limb exoskeleton rehabilitation robot intelligent bionic mechanical equipment rehabilitation medicine spinal cord injury rehabilitation

收稿日期: 2022-07-21 录用日期: 2022-09-08

TP242.3

基金资助:国家重点研发计划(021YFF0306201-ZKT3)

通讯作者: 帅梅,shuaimei@buaa.edu.cn;张冀聪,jicongzhang@buaa.edu.cn E-mail: shuaimei@buaa.edu.cn;jicongzhang@buaa.edu.cn

作者简介: 丁逸苇（1997—），男，博士生。研究领域：外骨骼机器人康复机制，医学信号处理，医学图像处理。
涂利娟（1999—），女，硕士生。研究领域：康复工程。

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.220256 或 https://robot.sia.cn/CN/Y2022/V44/I5/522

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