基于错误增强康复策略下肢康复机器人关键技术研究

"Error argumentation" rehabilitation strategy is considered to be a great potential training method in the robot rehabilitation training area. However, the experimental research on lower extremity of hemiplegic patients after stroke has not been carried out yet. According to the drawback of present rehabilitation therapy, for the first time this project proposes the key techniques of the lower limb rehabilitation robot, which based on Error argumentation rehabilitation strategy. Exploring the errors jamming and variable gain feedback on acceleration mechanism of the central nervous system in patients with stroke. Study the dynamic effects of "error argumentation" rehabilitation strategy on lower extremity of hemiplegic patients with functional reconstruction. Design multiple degrees of freedom machine construction and the new type of variable gain feedback control system, which may impose "error argumentation" and variable damping rehabilitation strategy on lower extremity of hemiplegic patients. On this basis, carry out the experimental research on lower extremity of hemiplegic patients after stroke. Explore the rule of nervous system remodeling between variable gain feedback, frequency and spatial characteristics. Provide scientific basis for reshaping of the nervous system of the lower extremity of hemiplegic patients. This project is the frontier of the development of neural science theory in resolving the stroke rehabilitation difficulty and emphasis in exploration application, it has significant development, pertinence and practicability, it provides a new research idea and research platform for stroke patients with hemiplegia lower limb function rehabilitation.

“错误增强”策略被认为是机器人康复训练中极具潜力的康复策略，但其在下肢偏瘫患者康复研究尚未开展。本课题针对下肢偏瘫患者康复的难点和瓶颈问题，首次开展基于“错误增强”策略的下肢康复机器人关键技术研究。研究可施加“错误增强”策略的多自由度、可变阻尼的柔顺机构及可变增益反馈控制系统，构建新型下肢康复机器人原型；从变增益反馈和受扰平衡二个方面研究“错误增强”策略对运动功能障碍重建动态影响，探索“错误增强”策略加速中枢神经系统学习机理；研究神经系统功能变化与错误反馈之间的时、频域特性的关联规律, 探索错误反馈对时间窗依赖特性及其影响机制，为下肢偏瘫患者感知功能再造与神经系统重塑提供科学依据。本项目是神经科学发展的前沿理论（“错误增强”）在解决脑卒中康复的难点与重点（下肢功能障碍）的探索应用，具有显著的开拓性、针对性和实用性，研究成果可为下肢偏瘫患者步行能力的康复提供了新的思路和平台。

本项目重点研究“错误增强”在机器人康复训练中的康复策略和构建新型下肢康复机器人，以及下肢康复机器人可变增益反馈阻抗控制方法。主要包括可施加“错误增强”策略的多自由度、可变阻尼的柔顺机构及可变增益反馈控制系统，构建新型下肢康复机器人原型；下肢康复机器人的人机耦合动力学模型与运动控制技术，提出一种人机交互的可变增益反馈阻抗控制方法；从变增益反馈和受扰平衡二个方面研究“错误增强”策略对运动功能障碍重建动态影响；通过人机交互信号和力、角度、速度等传感器对运动状态进行监测与评估，建立一种准确的交互信号与运动意图之间的映射模型；结合迭代学习控制，优化康复机器人在人机交互时的阻抗控制模型，提出一种新的主动运动意图的柔顺交互阻抗控制方法，构建了一个科学有效的下肢康复机器人控制系统，为下肢运动障碍人群的下肢康复训练提供“错误增强”的康复训练策略与平台。