下肢康复训练机器人关键技术分析

Critical Technologies of Lower Limb Rehabilitation Training Robot

机器人技术应用于康复医学领域,为传统医学解决了许多问题。作为康复机器人技术研究的重要组成部分,下肢康复训练机器人的研究以带动或辅助患者下肢进行步态康复训练为目的,其机械结构具有一定的自由度,能够实现康复训练所需的运动,可采用多种执行元件,控制策略上,采用主动或被动控制策略,可以使患者以选定的康复训练模式进行步态康复训练。这里重点讨论下肢康复训练机器人的结构特点及其控制策略,最后,分析下肢康复训练机器人的研究现状并展望其发展趋势。

Many problems of the traditional medicine are solved with the application of robotics to rehabilitation medicine. The lower limb rehabilitation training robot is an important part of the rehabilitation robotics research, and the purpose of the lower limb rehabilitation training robot research is to drive or assist the patient lower limbs to perform gait rehabilitation training, and the mechanical structure should has enough degree of freedom to realize the movements of the rehabilitation training, and kinds of actuators can be used in the robot, in control strategy, and active or passive control strategy be adopted, and gait rehabilitation training can be carried out by selected rehabilitation training mode. Structural characteristics and control strategies of the lower limb rehabilitation training robot is discussed here, and research status quo and the tendencies of lower limb rehabilitation training robot is also analyzed.