下肢康复机器人及其交互控制方法_胡进

4011Vol.40,No.11201411ACTAAUTOMATICASINICANovember,20141111;21,.,,,,,,.,4:,,(Suspendingbodyweightsupport,sBWS).,,.,:1);2).,;,(Surfaceelectromyogram,sEMG)(Electroencephalogram,EEG).,,,,,,,,..,2014,40(11):2377¡2390DOI10.3724/SP.J.1004.2014.02377LowerLimbRehabilitationRobotsandInteractiveControlMethodsHUJin1HOUZeng-Guang1CHENYi-Xiong1ZHANGFeng1;2WANGWei-Qun1AbstractThenumberofparalyticsu®erersiscurrentlygrowinghugeandtherehabilitationforthemisusuallyalong-timeprocess.Comparedtothetraditionalphysiotherapy,rehabilitationwiththeassistanceofrobotscanreducethecostandtime,andlesslaborintensityisrequired.Moreover,varioustrainingstrategiesareprovidedbyrobots,sothatrehabilitatione®ectcanbeimproved.Lowerlimbrehabilitationrobotsarecategorizedintohorizontalexercisers,verticallocomotors,sit-to-standaidsandmulti-orientationhybrids,accordingtothepostureofpatientduringtherapy.Horizontalexercisersaresubcategorizedintoende®ectorsandexoskeletons,andverticallocomotorsarefurthergroupedassuspendingbodyweightsupport(sBWS)basedgaittrainersandstand-alonewearables.Interactivecontrolbetweenmechanismandpatientisrequiredtocreateasecure,comfortableandnaturaltrainingenvironmentforparalyticpatients.Accordingtothesignalsemployedtodeducethemovementintentionofpatients,interactivecontrolmethodsareclassi¯edintoforce-basedcontrolandbiomedical-signal-basedcontrol.Twoapproachesthatareinparticularworthmentioningforforce-basedinteractivecontrolarehybridforce-positioncontrolandimpedancecontrol.Surfaceelectromyogram(sEMG)andelectroencephalogram(EEG)aretwomostlyusedsignalsforbiomedical-signal-basedcontrol.KeywordsLowerlimbrehabilitationrobot,stateoftheart,interactivecontrol,biomedicalsignals,futuredevelopmentCitationHuJin,HouZeng-Guang,ChenYi-Xiong,ZhangFeng,WangWei-Qun.Lowerlimbrehabilitationrobotsandinteractivecontrolmethods.ActaAutomaticaSinica,2014,40(11):2377¡2390.,2013-07-052014-07-18ManuscriptreceivedJuly5,2013;acceptedJuly18,2014(61225017,61175076),(2011DFG13390)SupportedbyNationalNaturalScienceFoundationofChina(61225017,61175076)andtheInternationalScience&Technol-ogyCooperationProjectofChina(2011DFG13390)1.1001902.1001901.StateKeyLaboratoryofManagementandControlforCom-plexSystems,InstituteofAutomation,ChineseAcademyofSci-ences,Beijing1001902.ResearchCenterofPrecisionSensingandControl,InstituteofAutomation,ChineseAcademyofSci-ences,Beijing100190,.,,,.,2011,40,133.4,230/10,9%;2012,1.82%,401036,6550%,[1].,75%,40%[2].,60237840[1].,.,,,.2006,233»755/100,10.4»83/100[3].,20806.8/100,200260/100[4],147.82.,.[5][6],20133700,2.65%,6.30%.,,.11.47,10.09,3288,24.6%,[7].2002,1.5%[8].,,,,,.,.,,,;,,;,,.,,.,,,,,.,.,,,,.,,,.,.,,..:14,,.,,,,.2,.,.1,,.,.,,,.,,,,.,4:.1.1,,,,.,.,.1.1.1,11:2379.,,,,,.,,.,,,.,PT-2-AXG[9]RestorativeTherapiesRT300Leg[10]RECK-TechnikGmbH&Co.KGMOTOmed[11].,(Functionalelectricalstimulation,FES),FES.,.,[12¡13],,,.,,,(),.Lambda(EcolePolytechniqueF¶ed¶eraledeLausanne)(1),¸,,,[14].Lambda,,,,.1Lambda[14]Fig.1Lambda[14]1.1.2,,.,,,.,,,.Physiotherabot(Y³ld³zTechnicalUniversity)[15],,.,,,,.Physiotherabot,,[15¡17].,[18],.MotionMaker(EcolePolytechniqueF¶ed¶eraledeLausanne)(2),Swortec.,[19].,,.FES,FES.MotionMaker5[20],4,2MotionMaker[21]Fig.2MotionMaker[21]238040FES.1.2,,,,.,,,,.,.1.2.1,BWSTT,,[22],.,,.,,,,.,,,,.GaitTrainerGTI(FreieUniversitÄatBerlin)(3),Reha-Stim.FES,,[23].,,.,,.GaitTrainerGTI,[24¡28],,BWSTT,,.Lokomat(Bal-gristUniversityHospital)Hocoma(EidgenÄossischeTechnischeHochschuleZÄurich)Woodway(4),Hocoma.,[29],,,,.Lokomat,,.,,,.,Lokomat,,[30¡35].3GaitTrainerGTI[36]Fig.3GaitTrainerGTI[36]4Lokomat[37]Fig.4Lokomat[37]ReoAmbulatorHealthSouth,Motorika,AutoAmbulator.Lokomat,[38],,.,11:2381.[39],ReoAmbulator.LokoHelpLokohelp[40],.,.,,,.LokoHelp[40¡41],,.WalkTrainer(EcolePolytechniqueF¶ed¶eraledeLausanne)(5),MotionMakerCyberthosis,Swortec.5,FES[42¡44].Walk-Trainer,,,.,FES,,.[43¡44],6,.5WalkTrainer[45]Fig.5WalkTrainer[45]KineAssistKineaDesign,,.WalkTrainer,[46¡47],.,KineAssist7,.[48¡49],KineAssist,.1.2.2,.,,,.,,,.ReWalkArgoMedicalTechnologies(6),[50].,,.,,.[51¡52],ReWalk,6ReWalk[53]Fig.6ReWalk[53]238240.HybridAssistiveLimb(HAL)(UniversityofTsukuba),Cyberdyne.[54].5,,[55],[56].,,HAL.[57],HAL,.1.3,,.,,.,,,.(KochiUniversityofTech-nology)[58],,,.,.,,,,.,4,,,.MONIMAD(Uni-versit¶ePierreetMarieCurie)[59¡60],.,.,,MONIMAD.[61],10MONIMAD.1.4,,,,,,.,,,,.Flexbot(7),[62].,.,,.4,.,,,.7Flexbot[62]Fig.7Flexbot[62]2,,,.,,,.,,,,.11:2383,:1);2).2.1,,.,/,.,,,.,,.,,[63].2.1.1Raibert,[64],,.,,,,,[65].,,.,.Lokomat[66],:,,,;,,.,,.,,,,,.,,{,,,,.[67],,,.,.,,90o,,,/,.,,,,,,,.,,.,,,,,,.[68],,.,9,8,,,,,,,.,,,,,.,,,,.,PI,,,,,.2.1.2,,,,[63].,:238440[69].,,.,Hogan[70],.,,.,,.,,|,;,.,,[71¡72],,.,,{{:Fh=MÄXe+B_Xe+KXe(1),MBK,M,B,K,Xe_XeÄXe,Fh.Duschau-Wicke,[73].,,,,,.,,,,,.,,.,,.,,,.,1015,,,,;,,,.HusseinGaitTrainerGTI,[74].,,,,,.,.Tsoi[69],,,,,.Cao[58],,,,.2.2,,(Surfaceelec-tromyogram,sEMG)(Electroencephalo-gram,EEG).,sEMGEEG,,.2.2.1sEMG[75¡76],,sEMGiEMG(IntramuscularEMG).sEMG,iEMG.,sEMG:1)sEMG,;2),sEMG,;3)sEMG,,;4)sEMG,,sEMG.sEMG:,sEMG,,sEMG;,sEMG11:2385,,,,.[77],Huang,(sEMG).,,,.[78],Sa