上肢康复外骨骼机器人控制方法进展研究

Research on the Control Methods of Upper Limb Rehabilitation Exoskeleton Robot

  • 摘要: 上肢康复外骨骼机器人主要用于为上肢运动功能障碍患者提供科学有效的康复训练,以实现患肢运动功能恢复及日常生活自理。该文从控制策略的角度综述了近年来上肢康复外骨骼机器人的研究进展。首先,从不同时期的康复治疗需求的角度出发,对已有的控制策略进行主动、被动控制分类,并对不同的控制方法进行概述,分析了各控制方法的当前研究现状。最后,对上肢康复外骨骼机器人发展中一些关键的挑战进行讨论并展望了未来的研究方向。

     

    Abstract: The upper limb rehabilitation exoskeleton robot is mainly used to provide scientific and effective rehabilitation training for the patients with upper limb motor dysfunction. And, the patients could realize the recovery of motor function of the affected limb and to take care of themselves in daily life. This paper reviews the research progress in control strategy of upper limb exoskeleton robots in recent years. Firstly, according to the rehabilitation needs in different periods, the existing control strategies are classified into active and passive control. The different control methods are summarized. The current research status of each control method is pointed out. Finally, some key challenges of the upper limb rehabilitation exoskeleton robot are discussed, and the future research directions are proposed.

     

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