助行康复机器人人机交互设计研究综述

Human-Robot Interaction Design of Walking Assistance Rehabilitation Robot

中文关键词: 助行康复机器人  人机交互  控制策略  交互界面设计

英文关键词: walking assistance rehabilitation robot  human-robot interaction  control strategy  interactive interface design

中文摘要:

      目的 对助行康复机器人人机交互设计研究进行归纳整理、综合分析、评述与展望，以期为相关研究提供参考及借鉴。方法 以人机交互设计方法为基础，通过文献研究法和定性研究法等对助行康复机器人的分类、人机交互控制策略与人机交互界面设计进行综述。结论 指明了按功能、人机运动关联、步态训练区域和结构等助行康复机器人的分类方式与研究现状；归纳总结了三种助行康复机器人的人机交互控制策略的研究进展和研究成果，包括基于人体测量信号的控制策略、基于交互力测量的控制策略和基于机器人测量信号的控制策略；对比研究了助行康复机器人的人机交互硬件界面设计和人机交互软件界面设计，并预测了人机交互界面设计的发展趋势。

英文摘要:

      The work aims to summarize, analyze, review and prospect the research on human-robot interaction design of walking assistance rehabilitation robot, in order to provide reference for related research. Based on the human-robot interaction design method, the classification, the human-robot interaction control strategy and the human-robot interaction interface design of walking assistance rehabilitation robot were reviewed by literature research method and qualitative analysis method. The classification methods and research status of walking assistance rehabilitation robot are pointed out according to function, human-robot motion correlation, gait training area and structure. The research progress and achievements of three kinds of human-robot interaction control strategies for walking assistance rehabilitation robot are summarized, including the control strategy based on anthropometric signal, the control strategy based on interaction force measurement and the control strategy based on robot measurement signal. The hardware interface design and software in-terface design of human-robot interaction of walking assistance rehabilitation robot are compared, and the development trend of human-robot interaction interface design is predicted.