摘要
依据康复机器人技术发展意义及社会需求,结合该领域的发展现状及趋势,介绍了国内外近些年来主要研究成果,分析了肌电信号的检测及时域、频域、时频域、高阶谱、混沌与分形的信号处理技术,机械本体技术及基于康复机器人技术的智能控制方法,并指出了此领域的存在问题及未来在肌电信号检测及处理技术、机械结构及材料技术、基于专家系统及康复机理的智能控制技术方面的发展趋势.
According to the development significance and social needs of the robot technology for rehabilitation, combined with the current status and the trend of this field, the main research achievements at home and abroad were introduced. Measurement of the electromyography (EMG) signal, the time domain, the frequency domain, the time and frequency domain, the higher-order spectrum, the signal process technology of the chaos and fractal, the machine arm technology and the intelligent control method based on robot technology for rehabilitation were analyzed. At the same time, this paper pointed out the problems in this field, the trend of the measurement and the process of the EMG signal, the mechanical structure and material technology and the intelligent control technology based on the expert system and rehabilitation mechanism.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2004年第9期1224-1227,1231,共5页
Journal of Harbin Institute of Technology
关键词
康复机器人
肌电信号
智能控制
机械本体
专家系统
Electromyography
Expert systems
Frequency domain analysis
Intelligent control
Time domain analysis
