手部康复机器人技术研究进展

Research progress on the development of hand rehabilitation robot

手部康复机器人主要用于手部运动功能障碍患者的康复治疗和日常生活辅助,通过康复辅助训练的手段提高患者手部运动功能,其结构以及控制方式是影响患者康复效果的主要因素。因此对手部康复机器人的结构及控制方式进行总结能为以后的研究方向提供重要参考。本文首先对人体手部特性进行分析,然后对国内外近四年手部康复机器人的结构、手部数据采集方式以及控制模式进行了分类和综述,最后分析了现有手部康复机器人的不足之处,并提出便携的柔性手部康复机器人将会成为研究热点。

Hand rehabilitation robot is mainly used for rehabilitation and daily life assistive of patientswith motor dysfunction. Rehabilitation and assistive training can improve hand motor function. The structureand control mode are the main factors that affect the rehabilitation effects. Therefore, the summary for thestructure and control mode of the hand rehabilitation robot can provide important reference for future research.Firstly, this paper analyzes the characteristics of human hands,then mainly reviews the structure and controlmode of the hand rehabilitation robot and hand data acquisition in recent years. Finally,the shortcomings ofhand rehabilitation robot are pointed out,and the review proposes that portable and flexible hand rehabilitationrobot will become a research focus.