| 康复机器人技术发展现状及关键技术分析 |
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| 引用本文： | 吕广明,孙立宁,彭龙刚.康复机器人技术发展现状及关键技术分析[J].哈尔滨工业大学学报,2004,36(9):1224-1227,1231. |
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| 作者姓名： | 吕广明 孙立宁 彭龙刚 |
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| 作者单位： | 哈尔滨工业大学,机电学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 依据康复机器人技术发展意义及社会需求，结合该领域的发展现状及趋势．介绍了国内外近些年来主要研究成果，分析了肌电信号的检测及时域、频域、时频域、高阶谱、混沌与分形的信号处理技术，机械本体技术及基于康复机器人技术的智能控制方法，并指出了此领域的存在问题及未来在肌电信号检测及处理技术、机械结构及材料技术、基于专家系统及康复机理的智能控制技术方面的发展趋势．
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| 关 键 词： | 康复机器人 肌电信号 智能控制 机械本体 专家系统 |
| 文章编号： | 0367-6234(2004)09-1224-04 |
| 修稿时间： | 2003年12月18 |
Analysis of the status quo and the key technology of the robot technology for rehabilitation |
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| LU Guang-ming,SUN Li-ning,PENG Long-gang.Analysis of the status quo and the key technology of the robot technology for rehabilitation[J].Journal of Harbin Institute of Technology,2004,36(9):1224-1227,1231. |
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| Authors: | LU Guang-ming SUN Li-ning PENG Long-gang |
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| Abstract: | According to the development significance and social needs of the robot technology for rehabilitation, combined with the current status and the trend of this field, the main research achievements at home and abroad were introduced. Measurement of the electromyography(EMG) signal, the time domain, the frequency domain, the time and frequency domain, the higher-order spectrum, the signal process technology of the chaos and fractal, the machine arm technology and the intelligent control method based on robot technology for rehabilitation were analyzed. Problems in this field, the trend of the measurement and process of the EMG signal, mechanical structure and material technology and the intelligent control technology based on the expert system and rehabilitation mechanism were pointed out. |
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| Keywords: | robot for rehabilitation electromyography signal intelligent control machine arm expert system |
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