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上肢康复外骨骼机器人控制方法进展研究
Alternative TitleResearch on the Control Methods of Upper Limb Rehabilitation Exoskeleton Robot
刘冰1,2; 李宁2,3,4; 于鹏2,3; 杨铁2,3; 陈文远2,3,4; 杨洋2,3; 王文学2,3; 姚辰2,3
Department机器人学研究室
Source Publication电子科技大学学报
ISSN1001-0548
2020
Volume49Issue:5Pages:643-651
Indexed ByEI ; CSCD
EI Accession number20204309386774
CSCD IDCSCD:6815645
Contribution Rank1
Funding Organization国家重点研发计划(2016YFE0206200) ; 国家自然科学基金创新群体项目(61821005) ; 辽宁省自然科学基金(20180520035) ; 四川科技计划(2020YFSY0012)
Keyword主动控制 控制策略 外骨骼机器人 被动控制 上肢康复
Abstract

上肢康复外骨骼机器人主要用于为上肢运动功能障碍患者提供科学有效的康复训练,以实现患肢运动功能恢复及日常生活自理。该文从控制策略的角度综述了近年来上肢康复外骨骼机器人的研究进展。首先,从不同时期的康复治疗需求的角度出发,对已有的控制策略进行主动、被动控制分类,并对不同的控制方法进行概述,分析了各控制方法的当前研究现状。最后,对上肢康复外骨骼机器人发展中一些关键的挑战进行讨论并展望了未来的研究方向。

Other Abstract

The upper limb rehabilitation exoskeleton robot is mainly used to provide scientific and effective rehabilitation training for the patients with upper limb motor dysfunction. And, the patients could realize the recovery of motor function of the affected limb and to take care of themselves in daily life. This paper reviews the research progress in control strategy of upper limb exoskeleton robots in recent years. Firstly, according to the rehabilitation needs in different periods, the existing control strategies are classified into active and passive control. The different control methods are summarized. The current research status of each control method is pointed out. Finally, some key challenges of the upper limb rehabilitation exoskeleton robot are discussed, and the future research directions are proposed.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27655
Collection机器人学研究室
Corresponding Author于鹏
Affiliation1.沈阳建筑大学信息与控制工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.中国科学院机器人与智能制造创新研究院
4.中国科学院大学计算机科学与技术学院
Recommended Citation
GB/T 7714
刘冰,李宁,于鹏,等. 上肢康复外骨骼机器人控制方法进展研究[J]. 电子科技大学学报,2020,49(5):643-651.
APA 刘冰.,李宁.,于鹏.,杨铁.,陈文远.,...&姚辰.(2020).上肢康复外骨骼机器人控制方法进展研究.电子科技大学学报,49(5),643-651.
MLA 刘冰,et al."上肢康复外骨骼机器人控制方法进展研究".电子科技大学学报 49.5(2020):643-651.
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