机器人2026，Vol.48Issue(2)：375-394,20.DOI:10.13973/j.cnki.robot.250142
上肢康复外骨骼机器人关键技术研究综述与展望
Review and Prospect on Key Technologies of Upper-limb Rehabilitation Exoskeleton Robots
摘要
Abstract
Upper-limb rehabilitation exoskeleton robots demonstrate significant clinical value in assisting postoperative rehabilitation for rotator cuff tears,because they can provide precise control and personalized training,and enhance active participation.Firstly,the pathological mechanisms and rehabilitation objectives of rotator cuff tears,the anatomy of the shoulder joint complex,and upper-limb exoskeleton assisted postoperative rehabilitation of rotator cuff tears are introduced in this paper.Additionally,the mechanical structure design of upper-limb exoskeletons for shoulder joint rehabilitation is summarized.Then,the current research on trajectory planning techniques for upper-limb rehabilitation exoskeleton robots is reviewed,mainly including the comparison of three methods:polynomial functions,cost function optimization and machine learning algorithms.Finally,the future development trends of upper-limb rehabilitation exoskeleton robots are discussed from the perspectives of mechanical design,intent recognition,online trajectory planning and control,and personalized active rehabilitation.关键词
肩袖损伤/康复机器人/上肢外骨骼/轨迹规划Key words
rotator cuff tear/rehabilitation robot/upper-limb exoskeleton/trajectory planning引用本文复制引用
秦岩丁,孟京艳,于宁波,韩建达..上肢康复外骨骼机器人关键技术研究综述与展望[J].机器人,2026,48(2):375-394,20.基金项目
国家自然科学基金(U24A20284) （U24A20284）
深圳市科技计划(KQTD20210811090143060). （KQTD20210811090143060）
