踝关节康复机器人研究进展

Research Progress of Ankle Rehabilitation Robot

脑卒中具有发病人群数量多、致残率高的特点,给社会和患者家庭带来极大的痛苦。踝关节作为人体远端关节,康复效果对生活质量具有重要影响。而传统人工辅助康复治疗的方式,人力成本高,患者的康复训练效果与治疗师的经验密切相关。康复机器人具有运动准确、稳定性好、训练均一性可控等优点,具有良好的应用前景。国内外研究者已经在康复机器人领域开展了大量的研究工作。本文对近几年来国内外踝关节康复机器人的机械设计和控制策略的研究现状进行了较为详细的分类研究,机械设计研究分类为穿戴方式、驱动方式和结构,控制策略研究分类为导纳控制、阻抗控制、轨迹跟踪控制和人机交互等,并分析了发展趋势和所面临的挑战,最后对踝关节康复机器人研究现状进行总结。

Stroke has the characteristics of large number of people and high disability rate, which brings great pain to the society and patients’ families. As the distal joint of human body, the rehabilitation effect of ankle has an important impact on the quality of life. The traditional artificial assisted rehabilitation treatment has high labor cost, and the rehabilitation training effect of patients is closely related to the experience of therapists. Rehabilitation robot has the advantages of accurate movement, good stability and controllable training uniformity, and has a good application prospect. Researchers at home and abroad have carried out a lot of research work in the field of rehabilitation robot. In this paper, the research status of mechanical design and control strategy of ankle rehabilitation robot at home and abroad in recent years is classified in detail. The mechanical design research is divided into wearing mode, driving mode and structure, and the control strategy research is divided into admittance control, impedance control, trajectory tracking control and human-computer interaction. The development trend and challenges are analyzed. Finally, the research status of ankle rehabilitation robot is summarized.