康复机器人技术发展现状和关键技术分析.pdfVIP

36 9 Vol136 No19 2 0 0 4 9 JOURNAL OF HARBIN INST ITU TE OF TECHNOLOGY Sep. , 2004 吕广明, 孙立宁, 彭龙刚 ( , 5000 ) : 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 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. : 康复机器人; 肌电信号; 智能控制; 机械本体; 专家系统 : TP242 : A : 0367- 6234( 2004) 09- 224- 04 Analysis of the status quo and the key technology of the robot technology for rehabili tation LU Guang-ming, SUN L-i ning, PENG Long-gang ( School of Mechanical and Electrical Engineering, Harbin Institute of T echnology, Harbin 5000 , China) Abstract: According to the development significance and social needs of the robot technology for rehabilita- tion, combined w ith 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 technolo- gy of the chaos and fractal, the machine arm technology and the intelligent control method based on robot technology for rehabilitation w ere analyzed. Problems in this field, the trend of the measurement and pro- cess of the EM G signal, mechanical structure and material technology and the intelligent control technology based on the expert system and rehabilitation mechanism w ere pointed out. Key words: robot for rehabilitation; electromyography signal; intelligent control; machine arm; expert sys- tem , . , [ ] . .