脑卒中患者上肢康复机器人及评价方法综述

摘要

The application of robotic technology for upper limb rehabilitation training is an important means for treatment of stroke patients� The paper analyzes the theoretical basis of robot⁃assisted rehabilitation training based on the central nervous system with high plasticity� According to the significance and social needs of rehabilitation robot, the paper summarizes five kinds of rehabilitation robot for upper limbs ’ research progress and achievements, including rehabilitation robot for upper limbs, rehabilitation robot for upper limbs integrating FES, rehabilitation robot for upper limbs based on virtual reality technology, rehabilitation robot for upper limbs based on sEMG and rehabilitation robot for upper limbs based on BCI� In order to improve the function of the rehabilitation robot and realize the quantitative assessment of the upper limb movement in patients with stroke, this article also analyzes several kinds of clinical evaluation methods commonly used� They are Brunnstrom evaluation method, Fugl⁃Meyer evaluation method, Ueda, Bin evaluation method and Bobath evaluation method� Finally, the development trend of rehabilitation robot for upper limbs in mechanical design, control strategy and evaluation methods are analyzed.%利用机器人技术进行上肢康复训练是脑卒中患者进行康复治疗的重要手段之一。本文根据中枢神经系统具有高度的可塑性，分析了机器人辅助康复训练的理论依据。并且依据康复机器人的社会需求和研究意义，归纳总结了5种上肢康复机器人的研究进展和研究成果，其中包括上肢康复机器人、功能性电刺激辅助上肢康复机器人、基于虚拟现实技术的上肢康复机器人、基于sEMG的上肢康复训练机器人、基于BCI上肢康复训练机器人。为完善康复机器人的功能，实现对脑卒中患者上肢运动功能的量化评估，本文还分析了目前临床上常用的几种评价方法，即Brunnstrom等级评价法、Fugl⁃Meyer量表评价法、上田敏评价法和Bobath评价法。最后分析了上肢康复机器人在机械设计、控制策略和评价方法等方面的发展趋势。