康复机器人系统结构及控制技术

System design and control technique of robot-aided rehabilitation

康复机器人是近年来发展起来的一种新的运动神经康复治疗技术,作为医疗机器人的一个重要分支,它贯穿了康复医学、生物力学、机械学、电子学、材料学、计算机科学以及机器人学等诸多领域,已经成为了国际机器人领域的一个研究热点。根据康复机器人技术的发展特点和应用并结合该领域的研究背景,分别从康复机器人机械结构设计、系统架构和运动控制策略等方面详细分析和介绍了国内外近年来的主要研究成果,并对该领域的一些关键技术进行了探讨。

Robot-aided rehabilitation is a new motion recovery therapy technology. As an important branch of medical robot, it involves many domains, such as rehabilitation medicine, biomechanics, mechanics, electronics, materials, computer science and robotics. It has become a research focus in international robot field. The structure characteristic, system design and control method of existing rehabilitation robot were reviewed and introducted based on its characteristics and application. Moreover, an analysis of key technology in the field of rehabilitation robot was presented.