主动康复训练机器人的感知交互与控制策略

 目前中国面临巨大的康复压力和需求，康复训练是目前实现患者功能恢复的主要方式。主动型康复机器人能够引导和鼓励患者积极参与到康复训练过程中，达到更优的长期训练效果。从主动康复训练辅助技术、主动康复训练感知与神经交互技术、主动康复训练交互控制策略、主动康复训练技术发展等方面分析了主动型康复训练的问题，表明以人为核心的结构设计可以促进系统的舒适性、个性化建模和运动意图获取，可以提高人机交互准确性、诱发患者主动参与提高训练过程中神经交互的有效性。关键词康复机器人；主动康复；运动意图；人机交互；神经反馈刺激

Sensory interaction and control strategy in rehabilitation robot with active training

At present, there is a great demand for the rehabilitation training in China. For the patients of disability, the rehabilitation training is the main way for the functional recovery. Compared to the passive training, the rehabilitation robot with active training can induce and encourage the patients to actively participate in the rehabilitation training process, and then achieve a better long-term training effect. In this paper, the rehabilitation robot with active training is presented in the following four parts:the assistive technology, the sensory interaction, the control strategy, and the development tendency. In order to make the training system comfortable for the user, the system should be designed based on the human-centered prospective. The personalized modeling with a movement intention, could improve the control accuracy in the human-machine interaction. Finally, the most important key is to induce the patients to participate in the training actively in order to improve the neural stimulation training effect.