手功能康复机器人技术
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摘要
手功能康复机器人是一种帮助手外伤或偏瘫患者逐步恢复手指运动功能的医疗康复机器人,结合了康复医疗理论和机器人技术。讨论了国内外手功能康复机器人的研究现状,依据人手生物力学特性和临床康复医疗训练要求,从提供机构驱动力的不同方式出发,围绕现有手功能康复机器人的机械结构设计、运动学和动力学、控制系统设计、力觉和位置信息反馈等问题展开了阐述,分析了目前手功能康复机器人存在的不足和解决途径,在此基础上,对其研究前景进行了展望。
Hand rehabilitation robot is a medical rehabilitation robot to help the hand injuries or the hemiplegia patients recover motion function gradually. It combines medical rehabilitation theory and robotics. This paper discusses an extensive research on the-state-of-the-art of hand rehabilitation robot. In accordance with the requirements of hand biomechanical characteristics and medical training of clinical rehabilitation and the different ways of driven force,some technologies of current hand rehabilitation robot such as its mechanical structure design,kinematics and dynamics,control system design,haptic and location information feedback and so on are synthesized and studied. On this basis,it is also analyzed its insufficiency and research prospects.
Hand rehabilitation robot is a medical rehabilitation robot to help the hand injuries or the hemiplegia patients recover motion function gradually. It combines medical rehabilitation theory and robotics. This paper discusses an extensive research on the-state-of-the-art of hand rehabilitation robot. In accordance with the requirements of hand biomechanical characteristics and medical training of clinical rehabilitation and the different ways of driven force,some technologies of current hand rehabilitation robot such as its mechanical structure design,kinematics and dynamics,control system design,haptic and location information feedback and so on are synthesized and studied. On this basis,it is also analyzed its insufficiency and research prospects.
引文
[1]刑科新.手功能康复机器人系统若干关键技术研究[D].武汉:华中科技大学,2010.
[2]王茂斌.脑卒中康复研究的进展[J].中国康复医学杂志,2001,16(5):264~265.
[3]Yili Fu,Qinchao Zhang,Fuhai Zhang.Design and Development of a Hand Rehabilitation Robot for Patient-cooperative Therapy Following Stroke[C]//Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation,Beijing,2011:112~117.
[4]甘增康.手部功能康复机器人电气控制系统的设计与研究[D].哈尔滨:哈尔滨工业大学,2011.
[5]Ju Wang,Jiting Li,Yuru Zhang.Design of an Exoskeleton for Index Finger Rehabilitation[C]//Entineering in Medicine and Biologys EMBC 2009.Annual International Conference on IEEE,2009:5957~5960.
[6]Pilwon Heo,Gwang Min Gu,Soo-jin Lee,et al.Current Hand Exoskeleton Technologies for Rehabilitation and Assistive Engineering[J].International Journey of Precision Engineering and Manufacturing,2012,13(5):807~824.
[7]李胜群.手指康复机器人结构与控制系统研究[D].武汉:华中科技大学,2009.
[8]Nobutaka Tsujiuchi,Takayuki Koizumi,Shigeki Shirai.Development of a low pressure driven pneumatic actuator and its application to a robot hand[C]//IEEE Industrial Electronics,IECON 2006-32nd Annual Conference on IEEE,2006:3040~3045.
[9]Chiri A,Giovacchini F,Vitiello N,et al.HANDEXOS:Towards an exoskeleton device for the rehabilitation of the hand[C]//IEEE/RSJ International Conference,St.Louis,MO,2009:1106~1111.
[10]Chiri A,Vitiello N,Giovacchini F,et al.Mechatronic Design and Characterization of the Index Finger Module of a Hand Exoskeleton for Post-stroke Rehabilitation[J].IEEE/ASME Transactions on Mechatronics,2012,17(5):884~894.
[11]Wege A,Hommel G.Development and control of a hand exoskeleton for rehabilitation of hand injuries[C]//IEEE/RSJ International Conference,Edmonton,Alta,2005:3046~3051.
[12]Wege A,Zimmermann A.Electromyography sensor based control for a hand exoskeleton[C]//Robotics and Biomimetics,2007.RCB2C 2007,International Conference on IEEE.,2007:1470~1475.
[13]Satoshi Ueki,Haruhisa Kawasaki,Satoshi Ito.Development of a Hand-Assist Robot With Multi-Degrees-of-Freedom for Rehabilitation Therapy[J].IEEE/ASME Transactions on Mechatronics,2012,17(1):136~146.
[14]http://www.rehab-robotics.com/HOH.
[15]Young-min Kim,Sung-yoon Jung,Inhyuk Moon.Design of a Wearable Upper-Limb Rehabilitation Robot using Parallel Mechanism[C]//ICROS-SICE International Joint Conference,2009:785~789.
[16]Ju-Hwan Bae,Young-Min Kim,Inhyuk Moon.Wearable Hand Rehabilitation Robot Capable of Hand Function Assistance in Stroke Survivors[C]//The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics,Rome,2012:1482~1487.
[17]Jun Wu,Jian Huang,Yongji Wang,et al.A Wearable Rehabilitation Robotic Hand Driven by PM-TS Actuators[M].Inxelligent Robotics and Applications cestions,springer Berlin Heidelberg,2010:440~450.
[18]Kotaro Tadano,Masao Akai,Kazuo Kadota,et al.Development of Grip Amplified Glove using Bi-articular Mechanism with Pneumatic Artificial Rubber Muscle[C]//2010 IEEE International Conference on Robotics and Automation Anchorage Convention District,Anchorage,AK,2010:2363~2368.
[19]Lauri Connelly,Yicheng Jia,Maria L,et al.A Pneumatic Glove and Immersive Virtual Reality Environment for Hand Rehabilitative Training After Stroke[J].Neural Systems and Rehabilitation Engineering,2010,18(5):551~559.
[20]Makaran J E,Dittmer D K,Buchal R O,et al.The SMART WristHand Orthosis(WHO)for Quadriplegic Patients[J].Journal of Prosthetics and Orthotics,1993:5(3),73~76.
[21]刘洪山.手创伤康复机械手结构设计与分析[D].哈尔滨:哈尔滨工业大学,,2007.
[22]张付祥.创伤手指康复机械手系统研究[D].哈尔滨:哈尔滨工业大学,2007.
[23]H I Krebs,N Hogan.Therapeutic Robotics:A Technology Push[J].Proceedings of the IEEE.2006,94(9):1727~1738.
[24]A M Mohd Ali,R Ambar,M M Abdul Jamil.Artificial Hand Gripper Controller via Smart Glove for Rehabilitation Process[C]//Biomedical Engineering(ICoBE),Penang,2012:300~304.
[25]M Hioki,H Kawasaki,H Sakaeda.Finger Rehabilitation System Using Multi-fingered Haptic Interface Robot Controlled by Surface Electromyogram[C]//Biomedical Robotics and Biomechatronics(BioRob),Solo 3rd IEEE and EMRS International Conference,2010:276~281.
[26]Yasuhisa Hasegawa,Junichiro Tokita,Kiyotaka Kamibayashi.Evaluation of fingertip force accuracy in different support conditions of exoskeleton[C]//Robotics and Automation(ICRA),Shanghai,2011:680~685.
[27]Susan E Fasoli,ScD OTR/L,Hermano I.Effects of Robotic Therapy on Motor Impairment and Recovery in Chronic Stroke[J].Arch Phys Med Rehabil,2003,84(4):477~482.
[28]Christopher L Jones,Furui Wang,Christian Osswald.Control and Kinematic Performance Analysis of an Actuated Finger Exoskeleton for Hand Rehabilitation following Stroke[C]//Biomedical Robotics and Biomechatronics(BioRob),Tokyo,2010:282~287.
[2]王茂斌.脑卒中康复研究的进展[J].中国康复医学杂志,2001,16(5):264~265.
[3]Yili Fu,Qinchao Zhang,Fuhai Zhang.Design and Development of a Hand Rehabilitation Robot for Patient-cooperative Therapy Following Stroke[C]//Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation,Beijing,2011:112~117.
[4]甘增康.手部功能康复机器人电气控制系统的设计与研究[D].哈尔滨:哈尔滨工业大学,2011.
[5]Ju Wang,Jiting Li,Yuru Zhang.Design of an Exoskeleton for Index Finger Rehabilitation[C]//Entineering in Medicine and Biologys EMBC 2009.Annual International Conference on IEEE,2009:5957~5960.
[6]Pilwon Heo,Gwang Min Gu,Soo-jin Lee,et al.Current Hand Exoskeleton Technologies for Rehabilitation and Assistive Engineering[J].International Journey of Precision Engineering and Manufacturing,2012,13(5):807~824.
[7]李胜群.手指康复机器人结构与控制系统研究[D].武汉:华中科技大学,2009.
[8]Nobutaka Tsujiuchi,Takayuki Koizumi,Shigeki Shirai.Development of a low pressure driven pneumatic actuator and its application to a robot hand[C]//IEEE Industrial Electronics,IECON 2006-32nd Annual Conference on IEEE,2006:3040~3045.
[9]Chiri A,Giovacchini F,Vitiello N,et al.HANDEXOS:Towards an exoskeleton device for the rehabilitation of the hand[C]//IEEE/RSJ International Conference,St.Louis,MO,2009:1106~1111.
[10]Chiri A,Vitiello N,Giovacchini F,et al.Mechatronic Design and Characterization of the Index Finger Module of a Hand Exoskeleton for Post-stroke Rehabilitation[J].IEEE/ASME Transactions on Mechatronics,2012,17(5):884~894.
[11]Wege A,Hommel G.Development and control of a hand exoskeleton for rehabilitation of hand injuries[C]//IEEE/RSJ International Conference,Edmonton,Alta,2005:3046~3051.
[12]Wege A,Zimmermann A.Electromyography sensor based control for a hand exoskeleton[C]//Robotics and Biomimetics,2007.RCB2C 2007,International Conference on IEEE.,2007:1470~1475.
[13]Satoshi Ueki,Haruhisa Kawasaki,Satoshi Ito.Development of a Hand-Assist Robot With Multi-Degrees-of-Freedom for Rehabilitation Therapy[J].IEEE/ASME Transactions on Mechatronics,2012,17(1):136~146.
[14]http://www.rehab-robotics.com/HOH.
[15]Young-min Kim,Sung-yoon Jung,Inhyuk Moon.Design of a Wearable Upper-Limb Rehabilitation Robot using Parallel Mechanism[C]//ICROS-SICE International Joint Conference,2009:785~789.
[16]Ju-Hwan Bae,Young-Min Kim,Inhyuk Moon.Wearable Hand Rehabilitation Robot Capable of Hand Function Assistance in Stroke Survivors[C]//The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics,Rome,2012:1482~1487.
[17]Jun Wu,Jian Huang,Yongji Wang,et al.A Wearable Rehabilitation Robotic Hand Driven by PM-TS Actuators[M].Inxelligent Robotics and Applications cestions,springer Berlin Heidelberg,2010:440~450.
[18]Kotaro Tadano,Masao Akai,Kazuo Kadota,et al.Development of Grip Amplified Glove using Bi-articular Mechanism with Pneumatic Artificial Rubber Muscle[C]//2010 IEEE International Conference on Robotics and Automation Anchorage Convention District,Anchorage,AK,2010:2363~2368.
[19]Lauri Connelly,Yicheng Jia,Maria L,et al.A Pneumatic Glove and Immersive Virtual Reality Environment for Hand Rehabilitative Training After Stroke[J].Neural Systems and Rehabilitation Engineering,2010,18(5):551~559.
[20]Makaran J E,Dittmer D K,Buchal R O,et al.The SMART WristHand Orthosis(WHO)for Quadriplegic Patients[J].Journal of Prosthetics and Orthotics,1993:5(3),73~76.
[21]刘洪山.手创伤康复机械手结构设计与分析[D].哈尔滨:哈尔滨工业大学,,2007.
[22]张付祥.创伤手指康复机械手系统研究[D].哈尔滨:哈尔滨工业大学,2007.
[23]H I Krebs,N Hogan.Therapeutic Robotics:A Technology Push[J].Proceedings of the IEEE.2006,94(9):1727~1738.
[24]A M Mohd Ali,R Ambar,M M Abdul Jamil.Artificial Hand Gripper Controller via Smart Glove for Rehabilitation Process[C]//Biomedical Engineering(ICoBE),Penang,2012:300~304.
[25]M Hioki,H Kawasaki,H Sakaeda.Finger Rehabilitation System Using Multi-fingered Haptic Interface Robot Controlled by Surface Electromyogram[C]//Biomedical Robotics and Biomechatronics(BioRob),Solo 3rd IEEE and EMRS International Conference,2010:276~281.
[26]Yasuhisa Hasegawa,Junichiro Tokita,Kiyotaka Kamibayashi.Evaluation of fingertip force accuracy in different support conditions of exoskeleton[C]//Robotics and Automation(ICRA),Shanghai,2011:680~685.
[27]Susan E Fasoli,ScD OTR/L,Hermano I.Effects of Robotic Therapy on Motor Impairment and Recovery in Chronic Stroke[J].Arch Phys Med Rehabil,2003,84(4):477~482.
[28]Christopher L Jones,Furui Wang,Christian Osswald.Control and Kinematic Performance Analysis of an Actuated Finger Exoskeleton for Hand Rehabilitation following Stroke[C]//Biomedical Robotics and Biomechatronics(BioRob),Tokyo,2010:282~287.