可穿戴下肢外骨骼康复机器人研究现状与发展趋势.pdfVIP

综 述 General Review 李龙飞，朱凌云，苟向锋. 可穿戴下肢外骨骼康复机器人研究现状与发展趋势[J]. 89 ， 疗卫生装备 2019，40（12）：89-97. 可穿戴下肢外骨骼康复机器人研究现状与发展趋势 李龙飞1 1，2* 1，2 ，朱凌云 ，苟向锋 （1.天津工业大学机械工程学院，天津 300387；2.天津市现代机电装备技术重点实验室， 天津 300387） [摘要] 介绍了国内外可穿戴下肢外骨骼康复机器人的研究现状，指出了该领域目前研究的热点问 。分析了可穿 戴下肢外骨骼康复机器人在设计生产中的驱动系统、感知系统、控制系统、人机匹配技术、人机交互技术和电池及管 理技术等6 种关键技术，指出了未来国内在可穿戴下肢外骨骼康复机器人的研发方面应注重结构模块化及控制系 统智能化，在康复效果监测方面应建立完善的康复效果评价系统等。 [关键词] 可穿戴下肢外骨骼；机器人；康复；康复 疗；人工智能 [中国图书资料分类号] R318 曰TP242.6 [文献标志码] A [文章编号] 1003-8868 渊2019冤12-0089-09 DOI 10.19745/j .1003-8868.2019308 Current status and development trend of wearable lower-limb exoskeleton rehabilitation robot 1 1, 2* 1, 2 LI Long-fei , ZHU Ling-yun , GOU Xiang-feng (1. College of Mechanical Engineering, Tiangong University, Tianji n 300387, China; 2. Tianj in Key Laboratory of Advanced Mechatronics Equipment Technology, Tianji n 300387, China) Abstract The domestic and international development status of wearable lower-limb exoskeleton robots was reviewed, and the hot issues in this field were pointed out. The robot had its key technologies analyzed including those for drive system, perception system, control system, human -computer matching technology, human -computer interaction technology and battery and management technology. It was expected that the research and development of domestic wearable exoskeleton robots should focus on structural design modularization, intelligent control system, and rehabilitation effect evaluation