康复外骨骼机器人主-从无约束辅助行走训练中生物反馈信息的量化表征方法研究

项目名称： 康复外骨骼机器人主-从无约束辅助行走训练中生物反馈信息的量化表征方法研究

项目编号： No.51505037

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 王萍

作者单位： 长安大学

项目金额： 20万元

中文摘要： 康复外骨骼机器人可用于脊椎受损或中风病患等的康复训练，相较于人工辅助具有显著优势，但由于患者机能信息反馈手段的缺乏，辅助康复训练易使患者过分依靠设备驱动力，从而丧失自身持久有效的“主动”施力训练。本项目通过采集遍及双腿关键位置的表面肌电信号（EMG），实时表征多种典型行走方案下肌肉群组机能的活跃程度，分析人体行走步态信息和肌肉的激发序列与强度，探索步态周期在空间和时间变化下生物反馈机能的改变规律，实现人体关键信号反馈的有效提取和表征，以及个体信息差异的标称方法，最终实现用于人机互动接口的辅助力预估和控制，从而达到自然而无约束地更正人机协作模式，渐进有效地矫正步态，并调动神经可塑性达到最佳状态的目的，为康复机器人的主-从智能控制策略及其在康复训练中的临床应用奠定基础，具有非常重要的理论意义和工程应用价值。

中文关键词： 生物反馈；康复机器人；肌电；步态

英文摘要： Although rehabilitation process helped by robotic-assisted has advantageous compared to the conventional manual-assisted rehabilitation for SCI (spinal cord injury), or stroke patients, lack of bio-feedback usually make patients move passively during walking training other than spend their muscle power. In order to identify “active” rehabilitation strategies, assessment of impaired walking is required to detect, monitor and quantify the bio-feedback information. Therefore, this project works on the detection of multi-signals on lower limbs to qualify various movement disorders. As EMG signal is directly linked to muscle activation and gait pattern, the activation sequence and amplitude of EMG signals on lower limbs will be collected and investigated. The alternations of muscle activation within the phases of the gait cycle will be highlighted to facilitate understanding of the underlying bio-feedback in time/spatial aspect and individual differences. The quantification of bio-feedback provided with valuable gait information at the end will link to the functional impact of external assistance that can be used to target and define therapeutic interventions both during therapy sessions as well as in conjunction with aids and devices assisting rehabilitation efforts through intelligent human-machine interaction. The rehabilitation walking training with help of “assist-as-needed” exoskeleton robot will encourage patient to move their legs and regain correct muscle pattern by repeating the correct gait pattern as much as possible. Then the activation will gradually call back the walking ability from poor functional gait which has significant theoretical meanings and potential implementations in engineering.

英文关键词： bio-feedback;rehabilitation robot;EMG;gait