帕金森病康复机器人研究综述与展望

A Survey and Perspective on Rehabilitation Robots for Patients Suffering from Parkinson’s Disease

总结了目前帕金森病康复机器人的研究现状,并探讨了相关技术的未来发展方向。首先,通过与脑卒中对比,重点介绍帕金森病的病理特点、运动症状、康复机理和治疗原则。然后,从上肢运动康复、下肢运动康复、震颤抑制以及病情评估等4个方面对目前帕金森病康复机器人及相关技术进行综述。进而,讨论分析了现有研究的局限性,并对机器人辅助帕金森病康复技术进行展望。特别指出,基于帕金森病的病理特点和康复机理,需要着重突破“脑―肌―肢”协同的专病康复技术。

State of the art of Parkinson’s disease(PD) rehabilitation robots is summarized and the development directions of related technologies are discussed. First of all, pathological characteristics, motor symptoms, rehabilitation mechanisms and therapeutic principles are presented for Parkinson’s disease in comparison with stroke. Then, a comprehensive survey on the state of the art of PD rehabilitation robots and technologies is given from aspects of upper-limb rehabilitation, lowerlimb rehabilitation, tremor suppression, and severity assessment techniques, respectively. Further, the limitations of current researches are analyzed, and the future directions of robot-assisted PD rehabilitation technologies are discussed. Specifically,based on the pathological characteristics and rehabilitation principles of Parkinson’s disease, it is necessary to develop PDspecific brain-muscle-limb fused rehabilitation technologies.