多关节上肢康复机器人患者协同肌电控制方法及其临床应用研究

项目名称： 多关节上肢康复机器人患者协同肌电控制方法及其临床应用研究

项目编号： No.61273359

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 宋嵘

作者单位： 中山大学

项目金额： 82万元

中文摘要： 脑卒中后单侧肢体运动功能障碍(偏瘫)是中国及许多国家致残率最高的因素,给偏瘫后患者的生活质量造成严重的影响。康复机器人技术以其自动控制、不知疲倦等优点成为物理治疗师的有力辅助。然而，目前大多数康复机器人不能根据患者的意识做出实时的调整，容易让患者依赖机器被动完成训练，也缺乏对多关节复合协同运动的训练功能，影响康复效果。本项目提出了一种新颖的康复机器人设计方案，研究以偏瘫患者的患侧肢体的八块肌肉肌电信号为控制源来控制康复机器人的方法，既通过患者的意识参与改善了人机交互性，又通过多通道肌电信号实时连续控制，辅助患者完成三维空间多关节协同运动的训练。研究偏瘫患者肌肉共收缩所导致异常模式的形成机理与识别算法，建立考虑偏瘫患者肌肉共收缩的肌电控制模型，提高训练动作质量。研究康复机器人的设计，增大患者上肢训练空间。最终提高康复机器人辅助康复训练的临床有效性。研究成果可为康复机器人的临床应用提供技术支撑

中文关键词： 肌肉骨骼模型；肌电控制；人机交互；偏瘫；机器人辅助康复

英文摘要： Stroke is the leading cause of disabilities and rehabilitation is important for motor functions recovery to facilitate patients after stroke back to normal activities of daily life. Robot-assisted rehabilitation is a promising new technology in stroke rehabilitation, which provide repetitive, well-controlled assistance for patients and relieve therapists from labour-intensive work. While post-stroke motor recovery depends on active rehabilitation by voluntary participation of patient's paretic motor system as early as possible in order to promote reorganization of brain. However, voluntary residual motor efforts to the affected limb have not been involved enough in most robot-assisted rehabilitation for patients after stroke.In the present project, an innovative wire-driven rehabilitation robotic system is designed, and voluntary intention is involved by using the residual surface electromyography (EMG) signals from eight affected muscles which mainly contribute to the upper limb movement, to control the mechanical assistance provided by the robotic system. EMG signal can create a natural integration between human and machine, and the assistive function of the myoelectrically-controlled robotic system could enable subjects after stroke to perform upper limb movement in larger 3- dimensional working space than th

英文关键词： musculoskeletal model；EMG driven；Man-machine interaction；stroke；robot-aided rehabilitation