上肢康复机器人现状研究
A Research on the Current Status of Upper Limb Rehabilitation Robots
DOI: 10.12677/AIRR.2023.124029, PDF,    国家自然科学基金支持
作者: 杨澳祥*, 韦建军*, 张 治：广西科技大学，机械与汽车工程学院，广西 柳州；王春宝#：广西科技大学，机械与汽车工程学院，广西 柳州；深圳大学第一附属医院，广东 深圳；深圳市第二人民医院，广东 深圳；广东铭凯医疗机器人有限公司，广东 珠海；刘铨权, 段丽红, 吴正治#：深圳大学第一附属医院，神经内科，广东 深圳；深圳市第二人民医院，神经内科，广东 深圳
关键词: 上肢康复机器人；结构设计；控制策略；Upper Limb Rehabilitation Robot； Structural Design； Control Strategy
摘要: 随着人口老龄化加剧，脑卒中患者的数量也在增多。在康复治疗方面面临着康复治疗师数量不足、人力成本高等问题，康复治疗需求广泛。康复机器人对解决此类问题有着准确性、高效性和可控性的优点，并且可以准确的获得患者康复治疗时的数据，便于对康复治疗进行评估，所以康复机器人在康复治疗方面潜力巨大。自上肢康复机器人问世起，其结构设计与控制方式多种多样。本文从上肢康复机器人末端执行器式与外骨骼式的结构设计和主动与被动的控制策略出发，总结了其优缺点与对康复治疗效果的影响，为上肢康复机器人的设计和应用提供了参考。最后对上肢康复机器人进行总结与展望，对上肢康复机器人未来的发展提出建议。
Abstract: With the aging of the population, the number of stroke patients is also increasing. In terms of rehabilitation treatment, there are problems of insufficient number of rehabilitation therapists and high labour cost, and rehabilitation treatment needs are extensive. Rehabilitation robots have the advantages of accuracy, efficiency and controllability in solving such problems, and can accurately obtain the data of patients during rehabilitation treatment, which is convenient for evaluating rehabilitation treatment. Therefore, rehabilitation robots have great potential in rehabilitation treatment. Since the advent of upper limb rehabilitation robots, there have been various structural designs and control methods. Starting from the structural design of the end effector and exoskeleton of the upper limb rehabilitation robot and the active and passive control strategies, this paper summarizes its advantages and disadvantages and its impact on the effect of rehabilitation treatment, which provides a reference for the design and application of the upper limb rehabilitation robot. Finally, the upper limb rehabilitation robot is summarized and prospected, and suggestions for the future development of the upper limb rehabilitation robot are put forward.
文章引用：杨澳祥, 韦建军, 张治, 王春宝, 刘铨权, 段丽红, 吴正治. 上肢康复机器人现状研究[J]. 人工智能与机器人研究, 2023, 12(4): 255-266. https://doi.org/10.12677/AIRR.2023.124029

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