上肢康复机器人研究综述

doi:10.3901/JME.2024.11.115

摘要/Abstract

摘要： 目前脑卒中患者的运动康复主要由康复医师辅助完成，但我国的康复医疗资源并不充裕，无法满足当下迫切的卒中及偏瘫康复需求。机器人辅助康复治疗是一项帮助脑卒中患者康复的新技术。上肢康复机器人能够辅助上肢偏瘫患者完成康复训练、恢复运动能力，并降低医师工作强度，目前已被应用于临床治疗。首先分析人体上肢生理结构，并引出脑卒中患者的康复需求；进而根据交互方式与驱动形式将上肢康复机器人分类，详述其结构特点与应用场景；同时归纳上肢康复机器人的典型控制策略、总结脑卒中量级与运动能力的评定标准；最后，指出目前上肢康复机器人目前面临的挑战，并展望了发展趋势。从医工结合的角度梳理上肢康复机器人的研究现状，总结技术的不足，为本领域的创新和实践提供了研究思路。

关键词: 脑卒中康复, 上肢康复机器人, 控制策略, 康复评定

Abstract: The current rehabilitation of stroke patients is primarily assisted by rehabilitation physicians. However, in our country, rehabilitation medical resources are not abundant enough to meet the urgent needs for stroke and hemiplegia rehabilitation. Robot-assisted rehabilitation therapy is a new technology that helps stroke patients recover. Upper-limb rehabilitation robots can help patients complete rehabilitation training, regain their motor function, reduce the work intensity of physicians. They have been used in clinical treatments. This article analyzes the physiological structure of the upper limbs of the human body and points out the rehabilitation needs of stroke patients. The upper limb rehabilitation robots are classified according to the interaction mode and the actuating mechanism, and their structural characteristics and application scenarios are described in detail. The typical robot control strategy, stroke magnitude and motor ability evaluation criteria are summarized. Finally, this study analyzes the current challenges and problems faced by upper limb rehabilitation robots, and a discussion on the future directions of research is included. From the perspective of the integration of medicine and engineering, the current state of research on upper limb rehabilitation robots is reviewed, and the technological shortcomings are highlighted, providing research directions for fostering innovation and practice in this field.

Key words: rehabilitation of stroke, upper-limb rehabilitation training robots, control strategies, rehabilitation assessment

中图分类号:

TP242

姚玉峰, 裴硕, 郭军龙, 王佳佳. 上肢康复机器人研究综述[J]. 机械工程学报, 2024, 60(11): 115-134.

YAO Yufeng, PEI Shuo, GUO Junlong, WANG Jiajia. Review of Research on Upper-limb Rehabilitation Training Robots[J]. Journal of Mechanical Engineering, 2024, 60(11): 115-134.

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