脑损伤上肢康复机器人及其临床应用研究

doi:10.3901/JME.2023.19.065

机械工程学报 ›› 2023, Vol. 59 ›› Issue (19): 65-80.doi: 10.3901/JME.2023.19.065

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脑损伤上肢康复机器人及其临床应用研究

何畅^1,2, 熊蔡华^1,2, 陈文斌^1,2

1. 华中科技大学医疗装备科学与工程研究院武汉 430074;
2. 华中科技大学智能制造装备与技术全国重点实验室武汉 430074

收稿日期:2023-06-21 修回日期:2023-09-06 出版日期:2023-10-05 发布日期:2023-12-11
通讯作者: 熊蔡华(通信作者),男,1965年出生,博士,教授,博士研究生导师。主要研究方向为机器人学、康复医疗装备等。E-mail:chxiong@hust.edu.cn
作者简介:何畅,男,1992年出生,博士。主要研究方向为康复机器人,类人机器人运动规划。E-mail:hechang@hust.edu.cn;陈文斌,男,1980年出生,博士,教授,博士研究生导师。主要研究方向为人体运动行为与认知、穿戴式机器人、人机混合智能系统和机器人运动规划等。E-mail:wbchen@hust.edu.cn
基金资助:
国家自然科学基金资助项目(52027806, U1913601, 52075191, U1913205)。

Review on Upper-limb Rehabilitation Robots for Patients with Brain Injury and Clinical Applications

HE Chang^1,2, XIONG Caihua^1,2, CHEN Wenbin^1,2

1. Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074;
2. State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074

Received:2023-06-21 Revised:2023-09-06 Online:2023-10-05 Published:2023-12-11

摘要/Abstract

摘要： 综合运用现代医学和工程科学方法，研制重塑受损脑神经环路的康复机器人，是人机共融机器人学前沿研究的重要科学目标，也是当前国际上亟待破解的难题之一，面临医学、信息科学、机械工程等多学科的挑战。以人体上肢康复机器人为对象，系统深入地剖析了当前最先进的上肢康复机器人及其临床应用情况，具体从人肢体自然运动规律及其机械复现原理，机械运动、神经刺激原理，人-机主被动协调控制等角度，比较了当前各种康复装备的特点，讨论了肢体康复机器人的未来发展趋势，阐述了脑损伤康复机器人走向临床应用需要破解的关键核心技术问题。

关键词: 人机共融机器人, 脑神经环路, 机械复现原理, 人机协同控制, 临床应用

Abstract: Using modern medicine and engineering scientific methods to develop rehabilitation robots for reconstructing damaged brain neural circuits and pathways is an important scientific goal in the areas of cutting-edge research on human-machine coordinated robotics, and also one of the current international problems to be solved, facing the challenges of medicine, information science, mechanical engineering and other disciplines. Taking human upper limb rehabilitation robot as the object, this research systematically and deeply analyzes the state-of-the-art upper limb rehabilitation robots and their clinical applications. Specifically, it compares the characteristics of various current rehabilitation robots from the perspectives of natural movement of human limb and its mechanical reproduction principle, mechanical and neural stimulation principle, human-machine coordinated control, and etc. The future development trend of human limb rehabilitation robots is discussed, and the key technical problems to be solved in the clinical applications of rehabilitation robots for patients with brain injury are expounded.

Key words: human-machine coordinated robot, neural circuit pathway in the brain, mechanical reproduction principle, human-machine coordinated control, clinical application

中图分类号:

TG156

何畅, 熊蔡华, 陈文斌. 脑损伤上肢康复机器人及其临床应用研究[J]. 机械工程学报, 2023, 59(19): 65-80.

HE Chang, XIONG Caihua, CHEN Wenbin. Review on Upper-limb Rehabilitation Robots for Patients with Brain Injury and Clinical Applications[J]. Journal of Mechanical Engineering, 2023, 59(19): 65-80.

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脑损伤上肢康复机器人及其临床应用研究

Review on Upper-limb Rehabilitation Robots for Patients with Brain Injury and Clinical Applications

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