手功能康复机器人技术

Research Status of Rehabilitation Robot for Hand Function

手功能康复机器人是一种帮助手外伤或偏瘫患者逐步恢复手指运动功能的医疗康复机器人,结合了康复医疗理论和机器人技术。讨论了国内外手功能康复机器人的研究现状,依据人手生物力学特性和临床康复医疗训练要求,从提供机构驱动力的不同方式出发,围绕现有手功能康复机器人的机械结构设计、运动学和动力学、控制系统设计、力觉和位置信息反馈等问题展开了阐述,分析了目前手功能康复机器人存在的不足和解决途径,在此基础上,对其研究前景进行了展望。

Hand rehabilitation robot is a medical rehabilitation robot to help the hand injuries or the hemiplegia patients recover motion function gradually. It combines medical rehabilitation theory and robotics. This paper discusses an extensive research on the-state-of-the-art of hand rehabilitation robot. In accordance with the requirements of hand biomechanical characteristics and medical training of clinical rehabilitation and the different ways of driven force, some technologies of current hand rehabilitation robot such as its mechanical structure design, kinematics and dynamics, control system design, haptic and location information feedback and so on are synthesized and studied. On this basis, it is also analyzed its insufficiency and research prospects.