摘要
近年来,康复机器人辅助中风病人的康复治疗吸引了越来越多的关注。相对于传统的由康复师进行的中风治疗,康复机器人进行的治疗更为精确,且不受康复师主观因素的影响,能够显著提高康复治疗的效果。本文介绍了一个拥有5自由度上肢与4自由度下肢的可穿戴便携式康复外骨骼机器人。机器人的所有自由度都由患者的肌电信号驱动,帮助患者进行失能肢体的康复训练。该机器人可穿戴和便携的特性为患者行走功能的康复提供了新的手段。康复过程中,患者的所有康复运动数据(包括患者的表面肌电信号数据和每个关节的运动数据)都可以被采集,便于在线分析和离线记录。
Robot-assisted rehabilitation which promises to redefine clinical strategies has drawn more and more attention for stroke therapy recently. Compared with classic rehabilitation limited to subjective observation of therapists on patients, the treatment by robotic devices can be more precise to improve the rehabilitation effects. In this paper, a wearable and portable rehabilitation robot with upper limbs of 5 degrees of freedom (DOFs) and upper limbs of 4 DOFs was introduced. The surface electromyographic (sEMG) signals were used to drive all the DOFs of both limbs to aid the training of prosthetic limbs. All data during the rehabilitation, including the sEMG signals and joint motions, can be collected for the purposes of both online analysis and offline storage.
出处
《集成技术》
2013年第4期27-31,共5页
Journal of Integration Technology
关键词
康复
外骨骼
谐波减速器
表面肌电信号识别
自适应控制
支持向量机
rehabilitation
exoskeleton
harmonic Drive Transmission
EMG signal recognition
self-adaptive control
support vector machine(SVM)
