融合人脑意图与力觉反馈的外骨骼机器人步态控制CPG模型及调节方法

Exoskeleton robot has become an important rehabilitation device, which is able to help the paraplegic patient restore the independent walking. In the process of walking assistance and rehabilitation training, some problems in human computer system, such as taking full account of the person's active participation and realizing the coordinated control of human exoskeleton system, have become frontier topics in current studies. The work of this project is aimed at the difficulties in human exoskeleton system, which coordinate of human brain intention and environmental sensory feedback to modulate and control of gaits. Based on the physiological mechanism of human nervous system, build a central pattern generator (CPG) model, including the modulation effect of external excitation on the gait pattern. Take functional near-infrared spectroscopy and plantar force as sensory; establish the brain network connection model and the fusion model with brain movement intention and force sensory feedback. Then a novel method for coordinating brain movement intention and sensory feedback information to modulate the gait would be proposed. This work will provide a theoretical basis for the coordinated control of human exoskeleton systems. Furthermore, it will provide a technical support of rehabilitation and independent walking for assisting paraplegic patients, which has important theoretical significance and application value.

外骨骼机器人已成为协助截瘫残疾人恢复独立行走能力的重要康复设备，助行和康复训练过程中充分考虑人的主动参与性、实现外骨骼人机系统协调控制等人机交互问题已成为备受关注的前沿课题。本项目针对外骨骼人机系统感知协调人脑运动意图与环境感觉反馈、调节和控制步态的难点问题，根据人体神经系统控制步态节律运动的生理机制，建立中枢模式发生器（CPG）模型，并研究外部激励对步态模式的调节作用，以近红外脑功能光谱和足底力为感知信息，通过建立脑网络连接模型，以及脑运动意图和力感觉反馈的融合模型，提出能够协调意图和感觉反馈信息调节步态模式的新方法，为探索外骨骼人机系统协调控制提供理论基础，进而为协助截瘫残疾人自主参与康复训练和独立行走提供技术支持，具有重要的理论意义和应用价值。

外骨骼机器人已成为协助截瘫残疾人恢复独立行走能力的重要康复设备，助行和康复训练过程中充分考虑人的主动参与性、实现外骨骼人机系统协调控制等人机交互问题已成为备受关注的前沿课题。本项目针对外骨骼人机系统感知协调人脑运动意图与环境感觉反馈、调节和控制步态的难点问题，通过分析不同步速下行走的膝关节步态周期，建立膝关节运动模型，根据人体神经系统控制步态节律运动的生理机制，建立具有外部激励的CPG网络模型。以近红外脑功能光谱、足底力以及表面肌电信号为感知信息，通过建立脑网络连接模型，以及脑运动意图和肌肉激活度的步速识别融合模型，为探索外骨骼人机系统协调控制提供理论基础，进而为协助截瘫残疾人自主参与康复训练和独立行走提供技术支持，具有重要的理论意义和应用价值。