康复机器人柔顺变刚度驱动机构研究进展

doi:10.3969/j.issn.1006-9771.2021.00.002

《中国康复理论与实践》 ›› 2021, Vol. 27 ›› Issue (6): 627-636.doi: 10.3969/j.issn.1006-9771.2021.00.002

康复机器人柔顺变刚度驱动机构研究进展

陆盛^1,²,胡冰山^1,²(),程科^1,²,喻洪流^1,²,倪伟^1,²

^1.上海理工大学康复工程与技术研究所，上海市 200093
^2.上海康复器械工程技术研究中心，上海市 200093

收稿日期:2020-11-20 修回日期:2020-11-30 出版日期:2021-06-25 发布日期:2021-06-21
通讯作者: 胡冰山 E-mail:hubingshan@usst.edu.cn
作者简介:陆盛(1996-)，男，汉族，上海市人，硕士研究生，主要研究方向：康复机器人智能控制|胡冰山(1982-)，男，湖北当阳市人，副教授，主要研究方向：康复机器人智能控制。
基金资助:
国家重点研发计划资助项目(2020YFC2005804);上海市自然科学基金资助项目(20ZR1437800)

Advance in Flexible Variable Stiffness Actuator of Rehabilitation Robot (review)

Sheng LU^1,²,Bing-shan HU^1,²(),Ke CHENG^1,²,Hong-liu YU^1,²,Wei NI^1,²

^1.Institute of Rehabilitation Engineering and Technology, Shanghai 200093, China
^2.University of Shanghai for Science and Technology, Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China

Received:2020-11-20 Revised:2020-11-30 Published:2021-06-25 Online:2021-06-21
Contact: Bing-shan HU E-mail:hubingshan@usst.edu.cn
Supported by:
National Key R&D Program of China(2020YFC2005804);Shanghai Natural Science Fund(20ZR1437800)

摘要/Abstract

摘要：

柔顺变刚度驱动机构分为弹性元件、气动元件、电-磁元件和智能材料四大类。变刚度驱动机构正在逐步应用于康复机器人，在上下肢康复机器人中可适应患者的阻抗变化，在外骨骼中可保证穿戴者的安全，在假肢中可提高仿生性。现有康复机器人变刚度驱动机构还存在一些问题，还应具备紧凑的结构、低能耗、良好的刚度特性、高响应速率和渐进式输出扭矩曲线等特点。

关键词: 变刚度, 柔顺, 康复机器人, 综述

Abstract:

Flexible variable stiffness actuator is divided into four categories including elastic element, pneumatic element, electric-magnetic element and intelligent material. It is gradually applied in rehabilitation robot. It could adapt the change of patient's impedance in the upper and lower limb rehabilitation robots, ensure the safety of the wearer in the exoskeleton, and improve the biomimetics in the prosthesis. Variable stiffness driving mechanism for rehabilitation robot still has some disadvantages. It is proposed to have compact structure, low power consumption, good stiffness characteristics, high response rate and progressive output torque curve, etc.

Key words: variable stiffness, flexiblity, rehabilitation robot, review

中图分类号:

R496

陆盛,胡冰山,程科,喻洪流,倪伟. 康复机器人柔顺变刚度驱动机构研究进展[J]. 《中国康复理论与实践》, 2021, 27(6): 627-636.

Sheng LU,Bing-shan HU,Ke CHENG,Hong-liu YU,Wei NI. Advance in Flexible Variable Stiffness Actuator of Rehabilitation Robot (review)[J]. 《Chinese Journal of Rehabilitation Theory and Practice》, 2021, 27(6): 627-636.

图/表 25

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康复机器人柔顺变刚度驱动机构研究进展

Advance in Flexible Variable Stiffness Actuator of Rehabilitation Robot (review)

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