Application Progress of Rehabilitation Exoskeleton Robot in Limb Rehabilitation

Kaifang Wang; Hui Cao; Mengmeng Xing; Feng Yang; Junzhong Zhang; Jin'gang Ma

doi:10.16578/j.issn.1004.2539.2022.04.002

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Application Progress of Rehabilitation Exoskeleton Robot in Limb Rehabilitation

Review | 更新时间：2022-09-25

- Application Progress of Rehabilitation Exoskeleton Robot in Limb Rehabilitation
- Journal of Mechanical Transmission Vol. 46, Issue 4, Pages: 10-21(2022)
- 作者机构：
  
  1.山东中医药大学智能与信息工程学院，山东济南 250000
  2.山东中医药大学第一临床医学院中医骨伤科，山东济南 250000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.04.002
  CLC：
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王开放,曹慧,邢蒙蒙等.康复外骨骼机器人在肢体康复中的应用进展[J].机械传动,2022,46(04):10-21.

Wang Kaifang,Cao Hui,Xing Mengmeng,et al.Application Progress of Rehabilitation Exoskeleton Robot in Limb Rehabilitation[J].Journal of Mechanical Transmission,2022,46(04):10-21.
王开放,曹慧,邢蒙蒙等.康复外骨骼机器人在肢体康复中的应用进展[J].机械传动,2022,46(04):10-21. DOI： 10.16578/j.issn.1004.2539.2022.04.002.

Wang Kaifang,Cao Hui,Xing Mengmeng,et al.Application Progress of Rehabilitation Exoskeleton Robot in Limb Rehabilitation[J].Journal of Mechanical Transmission,2022,46(04):10-21. DOI： 10.16578/j.issn.1004.2539.2022.04.002.

摘要

康复外骨骼机器人的适用对象主要是存在肢体活动功能障碍的患者，患者可通过外骨骼阶段性、科学性及精准化的训练来完成康复治疗。但目前市面上康复外骨骼机器人种类繁多、形式各异，分类问题是一个难点。根据康复外骨骼机器人在人体辅助位置的不同，对目前国内外具有代表性的康复外骨骼机器人进行了分类汇总；对康复外骨骼机器人的不同驱动方式进行了详细概述，并分析了不同驱动方式的研究现状；在根据康复治疗的所处阶段采取相应训练模式的角度，重点分析了康复外骨骼机器人的针对性训练模式。对目前康复外骨骼的技术重难点进行总结和展望，旨在为后续康复外骨骼机器人的研究提供参考。

Abstract

Rehabilitation exoskeleton robots are mainly applied to patients with dysfunctional limb movements，and patients can complete rehabilitation treatment through phased，scientific and precise training of the exoskeleton. However，there are many types and forms of rehabilitation exoskeleton robots on the market at present，and how to categorize them will become a difficult problem. The domestic and international research progress of rehabilitation exoskeleton robots in recent years is summarized. The current representative rehabilitation exoskeleton robots are classified according to their different assisted positions in the human body； A detailed overview of different driving methods of rehabilitation exoskeleton robots is given and the current research status of different driving methods are analyzed； The targeted training mode of the rehabilitation exoskeleton robot is analyzed from the perspective of adopting the corresponding training mode according to the stage of rehabilitation treatment. The technical difficulties in current exoskeleton rehabilitation treatment is summarized and provides an outlook， aiming to provide a reference for future research on rehabilitation exoskeleton robots.

关键词

康复治疗外骨骼机器人驱动方式针对性训练肢体康复

Keywords

Rehabilitation therapyExoskeleton robotDriving modeTargeted trainingLimb rehabilitation

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