基于人机信息交互的助行外骨骼机器人技术进展

明东; 蒋晟龙; 王忠鹏; 綦宏志; 万柏坤

doi:10.16383/j.aas.2017.c160032

基于人机信息交互的助行外骨骼机器人技术进展

doi: 10.16383/j.aas.2017.c160032

明东^1,2, ,,
蒋晟龙^1,2,,
王忠鹏^1,2,,
綦宏志^1,2,,
万柏坤^1,2,

1.
天津大学精密仪器与光电子工程学院生物医学工程系天津 300072
2.
天津大学医学工程与转化医学研究院天津大学神经工程中心天津 300072

基金项目:

国家自然科学基金 91520205

国家自然科学基金 91648122

国家自然科学基金 81630051

详细信息

作者简介:
蒋晟龙天津大学精密仪器与光电子工程学院博士研究生.主要研究方向为康复机器人, 神经肌肉电刺激.E-mail:justinjiang@tju.edu.cn

王忠鹏天津大学精密仪器与光电子工程学院硕士研究生.主要研究方向为神经肌肉电刺激.E-mail:wzp2468@126.com

綦宏志天津大学精密仪器与光电子工程学院副教授.主要研究方向为生物医学信号处理, 神经工程, 脑-机接口.E-mail:qhz@tju.edu.cn

万柏坤天津大学精密仪器与光电子工程学院教授.主要研究方向为生物医学信息检测与医学仪器, 模式识别与特征提取算法, 神经工程与康复医学, 脑机交互及人工智能设备.E-mail:bkwan@tju.edu.cn

通讯作者:
明东天津大学精密仪器与光电子工程学院教授.主要研究方向为神经工程, 康复工程, 脑机接口和生物医学信息处理.本文通信作者. E-mail:richardming@tju.edu.cn

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- 被引次数: 0
出版历程
- 收稿日期: 2016-01-14
- 录用日期: 2017-03-02
- 刊出日期: 2017-07-20

Review of Walk Assistant Exoskeleton Technology:Human-machine Interaction

MING Dong^{1,2
, ,},
JIANG Sheng-Long^{1,2
,},
WANG Zhong-Peng^{1,2
,},
QI Hong-Zhi^{1,2
,},
WAN Bai-Kun^{1,2
,}

1.
Department of Biomedical Engineering, College of Precision Instruments & Optoelectronics Engineering, Tianjin University, Tianjin 300072
2.
Tianjin International Joint Research Center for Neural Engineering, Academy of Medical Engineering and Translational Medicine, Tianjin University, Tianjin 300072

Funds:

National Natural Science Foundation of China 91520205

National Natural Science Foundation of China 91648122

National Natural Science Foundation of China 81630051

More Information

Author Bio:
Ph. D. candidate at the College of Precision Instruments & Optoelectronics Engineering, Tianjin University. His research interest covers rehabilitation robot and neuromuscular electrical stimulation

Master student at the College of Precision Instruments & Optoelectronics Engineering, Tianjin University. His main research interest is neuromuscular electrical stimulation

Associate professor at the College of Precision Instruments & Optoelectronics Engineering, Tianjin University. His research interest covers biomedical signal processing, neuroengineering, and braincomputer interface

Professor at the College of Precision Instruments & Optoelectronics Engineering, Tianjin University. His research interest covers biomedical information detection & medical instrument, pattern recognition & feature extraction algorithm, neuroengineering & rehabilitation medicine, braincomputer interface, and artiflcial intelligence equipment

Corresponding author: MING Dong Professor at the College of Precision Instruments & Optoelectronics Engineering, Tianjin University. His research interest covers neural engineering, rehabilitation engineering, brain-computer interface and biomedical information processing. Corresponding author of this paper. E-mail:richardming@tju.edu.cn

摘要

摘要: 外骨骼机器人是集人体信息检测、机器人自动控制、神经工程等多学科知识于一身的高科技成果.本文简要介绍了外骨骼机器人研发技术现状和应用市场前景，分别从外骨骼动力驱动和运动测量技术角度剖析了支撑典型外骨骼机器人实现其运动辅助功能的主要技术基础，重点从神经信息交互角度出发，讨论了构建人机信息交互环路中的技术瓶颈，以及如何更为高效准确地获取人体运动意图.最后展望了其未来技术研发方向.
- 康复机器人 /
- 外骨骼 /
- 人机信息环路 /
- 运动意图识别 /
- 神经可塑性
Abstract: Exoskeleton is a cross-disciplinary high-tech technology which concerns human signal detection, robot automatic control, neural engineering and so on. This review briefly introduces the status-of-the-art of exoskeleton technology and its market applications, and analyzes the key technical foundations of robot-assisted locomotor function in dynamics drive and kinematics measurement technique, with the emphasis on neural information interaction. Technical bottlenecks in closed-loop human-machine interaction, and how to recognize motor intention more efficiently and accurately are discussed. Finally, the future development direction is prospected.
- Rehabilitation robot /
- exoskeleton /
- closed-loop human-machine interaction /
- motor intention recognition /
- neural plasticity
注释:

1) 本文责任编委程龙

HTML全文

图 1 采用液压驱动的外骨骼助力机器人

Fig. 1 Power assisted skeleton driven by hydraulic

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图 2 采用电机驱动的外骨骼机器人

Fig. 2 Skeleton driven by electric motor

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图 3 日本本田研发的ASIMO双腿行走机器人(左)与步行助手(中:第一代; 右:第二代)

Fig. 3 ASIMO bipedal walking robot (left) and walk assistant developed by Honda, Japan (middle: the first generation; right:the second generation)

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图 4 中科院常州先进制造技术研究所(左)和深圳先进技术研究院(右)研发的外骨骼系统

Fig. 4 Skeleton developed by Institute of Advanced Manufacturing Technology (left) and Shenzhen Institute of Advanced Technology (right), Chinese Academy of Sciences

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图 5 哈佛大学与ReWalk公司合作研制的柔性外骨骼机器人

Fig. 5 Soft exoskeleton designed by Harvard university and ReWalk Robotics

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图 6 混合动力外骨骼及其协同控制方式

Fig. 6 Kinesis hybrid exoskeleton and cooperative control approach

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图 7 柄反作用矢量定义示意图

Fig. 7 Definition of HRV

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图 8 步态相位和足底反力(GRF)的同步测量

Fig. 8 Synchronous measurement of gait cycle and GRF

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图 9 人机信息交环路及可能存在的制约瓶颈

Fig. 9 Bottleneck of closed-loop human-machine interaction

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图 10 运动相关电位的时间空间特征与运动状态的关系^[59]

Fig. 10 The relationship between the temporal spatial features of motion related potentials and movement states^[59]

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