面向康复的外肌肉式运动辅助机器人关键技术研究

In order to handle the following four aspects of the patient participation, safety, neural plasticity and rehabilitation performance of the rehabilitation robot, this proposal focuses on the following fundamental problems: biology-machine autonomic interaction based on neural decoding, the design of humanoid external-muscle distributed drive and compliant control, rebuilding neural pathway with functional electrical stimulation, as well as strengthen rehabilitation performance for motion assistive function. Some fundamental scientific methods will be proposed, e.g. EEG/EMG fusion based neural decoding and perceptual interaction, shape memory alloy based artificial external-muscle drive and compliant control, FES based neuro-motor pathway reverse remodeling, motion auxiliary-oriented strengthen rehabilitation strategy and so on. And then, the general methodology for the wearable motion-assisted rehabilitation robot will be established. Based on the above theoretical methods, active sensing technology, compliant drive technology, neural plasticity and rehabilitation enhance technology and other unit technology will be proposed. We will also develop the experimental platform to validate feasibility and effectiveness of theoretical methods and technology proposed. The developed prototype will be further demonstrated with respect to the application scenarios such as physical injury treatment and motion rebuilding. The achievement of the project will promote the development of medical services in Shenzhen as well as the rest of the country.

本项目面向运动功能损伤康复机器人亟需的患者参与度、安全性、神经可塑性及康复效能等四个方面的需求，聚焦“基于神经解码的生机自主交互”、“拟人外肌肉分布式驱动与柔顺控制”、“功能性电刺激驱动的神经通路重塑”、“面向运动辅助功能的康复效能强化”等四个方面的基础科学问题，深入开展基于脑/肌电等多源信息融合的神经解码与感知交互方法、基于记忆合金的仿生外肌肉驱动与控制方法、基于功能性无创深度电刺激的肌肉运动神经逆向重塑方法及面向运动辅助的康复强化策略等研究工作，构建可穿戴运动辅助康复机器人共性技术体系；以上述理论方法为基础构成康复机器人主动感知技术、柔性驱动技术、神经通路重建技术及康复强化技术等单元技术；研制实验平台系统，全面验证本项目提出的理论方法与技术的可行性和有效性；面向肢体损伤康复治疗，开展应用示范。促进深圳市医疗服务发展，为实现“人人享有康复服务”的国家战略目标提供理论方法基础和技术支撑。

本项目针对当前运动康复机器人在患者参与度、安全性、神经可塑性及康复有效性等四个方面的所存在的问题，聚焦基于神经信息的人机智能交互、外肌肉分布式柔性驱动与控制、基于电刺激的神经重塑、运动辅助康复效能优化四个方面的科学问题，深入开展基于脑肌电等生理信息的神经解码与智能交互方法、基于柔性材料的仿生驱动与控制方法、非理想场景意图识别鲁棒增强方法、功能性电刺激系统开发及自适应参数估计方法、康复等级量化评估方法及末端牵引式康复策略强化方法等方面的研究工作，构建柔性可穿戴康复机器人共性技术体系。上述方法形成康复机器人主动意图感知技术、柔性驱动技术、神经通路重塑技术及康复强化技术等单元技术，研制搭建了电刺激系统、基于功能性电刺激的运动辅助系统、肌电触发的手部康复系统、可穿戴柔性下肢外骨骼及基于肌电交互的末端牵引式系统平台，全面验证所提出方法的有效性和实用性。针对卒中患者开展应用示范，促进医疗康复的领域发展，为实现“人人享有康复服务”的国家战略目标提供理论方法基础和技术支撑。

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