The number of people with lower limb disabilities caused by stroke, traffic accidents and work-related injuries is increasing sharply every year in China's Mainland, and the corresponding number of rehabilitation ...The number of people with lower limb disabilities caused by stroke, traffic accidents and work-related injuries is increasing sharply every year in China's Mainland, and the corresponding number of rehabilitation therapists is obviously insufficient. To solve this problem, domestic large hospitals have introduced advanced lower limb rehabilitation robots from abroad. However, such robots are expensive and the number of them cannot meet the needs of patients. As a result, many universities and colleges in China's Mainland have launched research on this issue. This paper collects and collates the research literature, gives the mature and typical structure and control system design scheme in China's Mainland, and lists some representative research results. Finally, the rehabilitation effect of these lower limb rehabilitation robots is evaluated.展开更多
To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitali...To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots＇ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs＇ falling points. The last two give criterions of multi-legged robots＇ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.展开更多
[目的/意义]旨在全面了解近年来手术机器人的研究热点,为相关研究提供参考。[方法/过程]以Web of Science核心合集数据库中手术机器人领域期刊论文为研究对象,采用文献计量法,从发文年度、国家(地区)、研究机构、发表期刊、关键词、高...[目的/意义]旨在全面了解近年来手术机器人的研究热点,为相关研究提供参考。[方法/过程]以Web of Science核心合集数据库中手术机器人领域期刊论文为研究对象,采用文献计量法,从发文年度、国家(地区)、研究机构、发表期刊、关键词、高被引论文等方面进行研究,分析手术机器人领域研究现状和热点。[结果/结论]全球手术机器人领域的研究呈现持续增长的趋势,美国发文量最高,其次是中国。其中,加州大学系统和上海交通大学分别是全球和中国发文最高的机构。美国期刊SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES刊出的手术机器人研究论文数量最多。当前手术机器人研究热点主要集中在手术机器人的精准度和安全性研究,以及在各种肿瘤治疗上的应用等。展开更多
文摘The number of people with lower limb disabilities caused by stroke, traffic accidents and work-related injuries is increasing sharply every year in China's Mainland, and the corresponding number of rehabilitation therapists is obviously insufficient. To solve this problem, domestic large hospitals have introduced advanced lower limb rehabilitation robots from abroad. However, such robots are expensive and the number of them cannot meet the needs of patients. As a result, many universities and colleges in China's Mainland have launched research on this issue. This paper collects and collates the research literature, gives the mature and typical structure and control system design scheme in China's Mainland, and lists some representative research results. Finally, the rehabilitation effect of these lower limb rehabilitation robots is evaluated.
基金Sponsored by the Ministerial Level Advanced Research Foundation(65822576)
文摘To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots＇ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs＇ falling points. The last two give criterions of multi-legged robots＇ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.
文摘[目的/意义]旨在全面了解近年来手术机器人的研究热点,为相关研究提供参考。[方法/过程]以Web of Science核心合集数据库中手术机器人领域期刊论文为研究对象,采用文献计量法,从发文年度、国家(地区)、研究机构、发表期刊、关键词、高被引论文等方面进行研究,分析手术机器人领域研究现状和热点。[结果/结论]全球手术机器人领域的研究呈现持续增长的趋势,美国发文量最高,其次是中国。其中,加州大学系统和上海交通大学分别是全球和中国发文最高的机构。美国期刊SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES刊出的手术机器人研究论文数量最多。当前手术机器人研究热点主要集中在手术机器人的精准度和安全性研究,以及在各种肿瘤治疗上的应用等。
