基于机器人技术的人体手臂震颤抑制的理论和方法综述.pdf

基于机器人技术的人体手臂震颤抑制的理论和方法综述 1 2 2 1 孙建, 向馗, 李涛 ，葛运建 1. 中科院合肥物质科学研究院, 合肥230031 2. 武汉理工大学，武汉430070 摘要：本文深入调研过去几十年中利用“非药物”途径（机器人技术和信号处理技术）对人体手臂震颤现象进行抑制的国内外研究 成果，主要包括以下几个方面：1）震颤及其发生机制；2）常见震颤疾病的治疗现状；3）震颤信号采集及其处理方法；4）手臂震 颤抑制策略；5）手臂震颤抑制效果的评估研究。本文重点调研利用基于傅里叶变换的信号处理技术对震颤信号进行采集、处理与分 析的研究现状，以及利用康复医疗机器人技术对震颤信号进行补偿与抑制的相关策略的研究现状。 – , - , EMD , . 关键词 震颤 外骨骼机器人，希尔伯特黄变换 分解 信号分析与处理 A Comprehensive Review of Fundamental Theory and Methodology for Tremor Suppression of Human Arm Based on Robotic Exoskeleton Technology 1 2 2 1 Jian Sun , Kui Xiang ,Tao Li ,YunJian Ge 1.Institute of Intelligent Machines, Chinese Academy of Sciences, HeFei, AnHui 230031, China 2. Wuhan University of Technology, Wuhan 430070 Abstract: The paper introduces a comprehensive review of research work about tremor suppression of human arm based on the theory and methods of “Non-Medication” Methodology (Robotic exoskeleton technology and Signal processing technology) as the following aspects: 1) tremor and tremor mechanisms; 2) treatment of common tremor disorders; 3) tremor signal extraction and processing; 4) control strategies for tremor suppression; 5) study on the evaluation of tremor suppression strategies. In particular special focus has been put on the current research on the tremor signal extraction and processing based on the Fourier Technology and the ambulatory and non-ambulatory tremor reduction and suppression technologies based on the rehabilitation robotic exoskeleton technologies Key words: Tremor; Robotic Exoskeleton; Hilbert- Huang Transformation; EMD; Signal analysis and processing . 1.引言