融合功能性电刺激的助行康复外骨骼机器人混合控制策略研究进展

A Review on Hybrid FES-Robotic Control Strategies of Lower-Limb Exoskeleton Robots for Gait Rehabilitation

运动康复有助于促进脊柱损伤的恢复或脑卒中患者神经可塑,这对患者受损运动功能的恢复有着非常重要的作用。近年来,功能性电刺激(FES)技术与外骨骼机器人的结合,发挥了这两种康复技术的优势,同时互补了各自缺陷,从而促进实现了更有效的康复辅助模式,目前已逐渐成为本领域的研究热点。综述融合FES与下肢康复机器人混合控制策略的研究现状,并分别就FES结合被动矫形器的单向控制方法和融合主动外骨骼的协同控制方法,剖析其相关技术与难点;讨论构建人机信息交互环路的关键问题,以及如何设计出合理高效混合控制策略,从而实现动态控制分配和患者最大程度主动参与康复训练的目标。对未来的混合康复技术发展方向进行了总结与展望。

Motion rehabilitation plays a significant role in encouraging neuroplasticity and improving motor functions of patients with spinal cord injuries or strokes. In recent years, the incorporation of functional electrical stimulation(FES) and exoskeleton robots has gradually become a research hotspot in the field as the method takes advantages of both rehabilitation technologies while complementing each other. This article introduced a comprehensive review of hybrid FES-robotic control strategies by analyzing technical difficulties from the aspects of unidirectional FES-orthosis control strategies and cooperative FES-exoskeleton control strategies. We discussed the key problems and potential solutions to design an optimized cooperative control strategy based on a closed-loop human-computer interaction to realize dynamic control allocation and therefore maximize active rehabilitation performance of patients. Finally, we prospected future development of the hybrid rehabilitation technology.