下肢康复外骨骼的步态交互设计研究进展

doi:10.3901/JME.2023.17.175

机械工程学报 ›› 2023, Vol. 59 ›› Issue (17): 175-188.doi: 10.3901/JME.2023.17.175

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下肢康复外骨骼的步态交互设计研究进展

高一聪^1,2, 王彦坤^1,2, 郑浩³, 魏喆⁴, 谭建荣^1,2

1. 浙江大学流体动力与机电系统国家重点实验室杭州 310027;
2. 浙江大学设计工程及数字孪生浙江省工程研究中心杭州 310027;
3. 北京航空航天大学杭州创新研究院杭州 310000;
4. 沈阳工业大学机械工程学院沈阳 110870

收稿日期:2022-09-03 修回日期:2023-04-18 出版日期:2023-09-05 发布日期:2023-11-16
通讯作者: 郑浩(通信作者),男,1988年出生,副研究员。主要研究方向为产品设计方法学。E-mail:haozheng@zju.edu.cn
作者简介:高一聪,男,1982年出生,博士,副教授。主要研究方向为产品正向设计理论与方法、可控变形结构设计。E-mail:gaoyicong@zju.edu.cn;王彦坤,男,1998年出生,硕士研究生。主要研究方向为下肢康复外骨骼正向设计。E-mail:wangyankun@zju.edu.cn;魏喆,男,1982年出生,博士,教授,博士研究生导师。主要研究方向为产品设计方法学。E-mail:weizhe@zju.edu.cn;谭建荣,男,1954年出生,博士,教授,博士研究生导师。主要研究方向为产品设计方法学。E-mail:egi@zju.edu.cn
基金资助:
浙江省自然科学基金（LR22E050006，LZ21E050004，LGG21E050003）、国家自然科学基金（51975386）和浙江大学曹光彪高科技发展基金资助项目。

Gait Interaction Design of Lower Limb Rehabilitation Exoskeletons: A Review

GAO Yicong^1,2, WANG Yankun^1,2, ZHENG Hao³, WEI Zhe⁴, TAN Jianrong^1,2

1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027;
2. Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Zhejiang University, Hangzhou 310027;
3. Hangzhou Innovation Institute, Beihang University, Hangzhou 310000;
4. School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870

Received:2022-09-03 Revised:2023-04-18 Online:2023-09-05 Published:2023-11-16

摘要/Abstract

摘要： 中国正向深度老龄化社会高速迈进，脑卒中等老年性疾病人群逐年增多，开展面向助老适老的智能产品研究具有广阔的应用前景与重要的学术价值。下肢康复外骨骼是一种与穿戴者肢体交互并为其提供相应运动辅助和训练的人机交互共融智能产品。利用下肢康复外骨骼进行科学有效的康复运动训练，患者的肌力得以增强，脑神经和患肢之间的传递通路得以重建。根据穿戴者的下肢运动功能缺失或减弱程度生成并调整步态以进行安全有效的康复训练，是目前下肢康复外骨骼的研究前沿与热点。针对下肢运动功能障碍导致的行走方式差异化和康复步态规划个性化问题，结合国内外下肢康复外骨骼步态交互设计的研究进展，围绕下肢康复外骨骼步态性能评价标准、步态生成方法、步态控制策略和典型康复应用进行了重点分析探讨。最后总结并对下肢康复外骨骼的步态交互设计未来发展方向进行了展望，为相关研究人员提供参考。

关键词: 交互设计, 康复步态设计, 下肢康复外骨骼, 智能产品

Abstract: There is an increasing number of people who moderate senile diseases such as cerebral apoplexy. China will face a deep population aging in the near future. It has broad application prospects and important academic value to develop smart products for the elderly. Lower limb rehabilitation exoskeleton is a smart product with human-computer interaction, which interacts with the wearer's limbs and provides corresponding motion assistance. Through scientific and effective rehabilitation exercise training, the patient's muscle strength can be enhanced, and the transmission path between the brain nerve and the affected limb can be reconstructed. Thus, generating and adjusting the gait according to the degree of loss or weakening of the wearer's lower limb motor function for safe and effective rehabilitation are the frontier and hotspot of the research on lower limb rehabilitation exoskeleton. The research progress of evaluation methods of gait performance, generation methods of gait, control strategies of trajectory and typical rehabilitation applications is reviewed, which deals with differentiated walking style and individualized rehabilitation gait planning caused by lower limb motor dysfunction. Finally, the future work of gait interaction design of lower limb rehabilitation exoskeleton is summarized and presented, and provides a reference for related researchers.

Key words: human-computer interaction design, rehabilitation gait design, lower limb rehabilitation exoskeleton, smart product

中图分类号:

TP391

高一聪, 王彦坤, 郑浩, 魏喆, 谭建荣. 下肢康复外骨骼的步态交互设计研究进展[J]. 机械工程学报, 2023, 59(17): 175-188.

GAO Yicong, WANG Yankun, ZHENG Hao, WEI Zhe, TAN Jianrong. Gait Interaction Design of Lower Limb Rehabilitation Exoskeletons: A Review[J]. Journal of Mechanical Engineering, 2023, 59(17): 175-188.

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下肢康复外骨骼的步态交互设计研究进展

Gait Interaction Design of Lower Limb Rehabilitation Exoskeletons: A Review

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