中国组织工程研究

中国组织工程研究 ›› 2011, Vol. 15 ›› Issue (52): 9855-9858.doi: 10.3969/j.issn.1673-8225.2011.52.038

• 骨与关节综述 bone and joint review • 上一篇    下一篇

下肢外骨骼康复机器人的研究与进展

万大千，徐义明，白跃宏   

  1. 上海交通大学附属第六人民医院康复医学科，上海市   200233
  • 收稿日期:2011-05-23 修回日期:2011-07-18 出版日期:2011-12-24 发布日期:2011-12-24
  • 作者简介:万大千★，男，1986年生，黑龙江省哈尔滨市人，汉族，上海交通大学医学院在读硕士，主要从事神经系统损伤康复治疗的研究。 wdqwdq1986@126.com
  • 基金资助:

    上海交通大学医(理)工交叉重大课题基金资助项目(YG2010ZD101)。

Research and development of lower extremity rehabilitation exoskeletons

Wan Da-qian, Xu Yi-ming, Bai Yue-hong   

  1. Department of Rehabilitation Medicine, the Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University, Shanghai  200233, China
  • Received:2011-05-23 Revised:2011-07-18 Online:2011-12-24 Published:2011-12-24
  • About author:Wan Da-qian★, Studying for master’s degree, the Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University, Shanghai 200233, China wdqwdq1986@126.com
  • Supported by:

    Cross Foundation Major Project of Engineering and Medicine of Shanghai Jiao Tong University, No. YG2010ZD101*

PDF

1136

被引次数

25

摘要：

背景：如何提高脑血管疾病所致中枢神经系统损伤患者的日常活动能力是康复医学亟待解决的问题，而外骨骼康复机器人的发展为解决这一问题提供了可能。
目的：回顾下肢外骨骼康复机器人的研究进展，对下肢外骨骼康复机器人的设计与开发提出新的展望。
方法：由第一作者检索1990/2008 PubMed数据库(http://www.ncbi.nlm.nih.gov/PubMed)及万方数据库(http://www.wanfangdata.com.cn)有关医用下肢外骨骼康复机器人的文献，英文检索词为“exoskeletons robot，central nerve damage，passive rehabilitation training，the man-machine integration interaction interface”，中文检索词为“外骨骼机器人，中枢神经损伤，主被动康复训练，人机一体化交互接口”。排除重复性研究。
结果与结论：共纳入26篇文献归纳总结。外骨骼康复机器人研究报道较多，但如能解决体积小、轻便、低功耗、大功率输出等问题，同时具有响应快、低惯性、高精度和高安全性等性能，必将使神经损伤患者下肢功能最大化地恢复成为可能。

关键词: 外骨骼机器人, 中枢神经损伤, 主被动康复训练, 人机一体化交互接口, 表面肌电信号

Abstract:

BACKGROUND: How to improve the daily activity of patients with central nervous system injury caused by cerebrovascular diseases is the problem to be solved in rehabilitation medicine. The development of lower extremity rehabilitation exoskeletons may solve it.
OBJECTIVE: To review the research and development of lower extremity rehabilitation exoskeletons in order to design and develop them.
METHODS: An online search of literatures published between January 1990 to December 2008 of lower extremity rehabilitation exoskeletons was performed in PubMed database (http://www.ncbi.nlm.nih.gov/PubMed) and Wanfang database (http://www.wanfangdata.com.cn) with the key words of “exoskeletons robots, central nerve damage, passive rehabilitation training, the man-machine integration interaction interface” in English and in Chinese. The repetitive studies were excluded.
RESULTS AND CONCLUSION: Totally 26 articles were chosen to summarize. There are amount of studies on rehabilitation exoskeletons. However, if small volume, light, low power consumption, high power output can be solved in the rehabilitation exoskeletons, while they also have the abilities of fast response, low inertia, high precision and high security, the maximum response function of lower limb of nerve damage patients may be achieved.

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