上肢康复外骨骼智能控制综述

A Survey of Intelligent Control of Upper Limb Rehabilitation Exoskeleton

外骨骼的应用有望缓解我国康复医疗资源面临着的巨大压力。康复外骨骼应用的关键在于保证康复体验的安全、有效和舒适,而智能控制技术是回应这些需求的有效手段。本文基于智能控制系统的分层递阶结构,总结了近年来上肢康复外骨骼智能控制系统中各层级控制器的研究现状。主要包括上层控制器中的运动意图识别、中层控制器中的运动轨迹规划以及底层控制器中的执行器控制。最后,对上肢外骨骼控制系统中存在的问题和发展趋势进行了总结。

Application of exoskeletons is expected to relieve the enormous pressure on Chinese rehabilitation medical resources. The key to the application of rehabilitation exoskeletons is to ensure that the rehabilitation experience is safe,effective and comfortable, and intelligent control technology is an effective means of responding to these needs. Based on the hierarchical structure of the intelligent control system, this paper summarizes the research status of controllers at all levels in the intelligent control system of the upper limb rehabilitation exoskeleton in recent years. It mainly includes motion intention recognition in the upper controller, motion trajectory planning in the middle controller, and actuator control in the bottom controller. Finally, the existing problems and the development trends of the upper limb exoskeleton control systems are presented.