[1]孙建,向馗,高理富,等.基于外骨骼机器人技术的人体手臂震颤抑制的理论和方法[J].智能系统学报,2012,7(4):283-293.
　SUN Jian,XIANG Kui,GAO Lifu,et al.A comprehensive review of fundamental theory and methodology for tremor suppression of human arm based on robotic exoskeleton technology[J].CAAI Transactions on Intelligent Systems,2012,7(4):283-293.
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基于外骨骼机器人技术的人体手臂震颤抑制的理论和方法

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 7 期数: 2012年第4期 页码: 283-293 栏目: 学术论文—智能系统 出版日期: 2012-08-25
Title:
A comprehensive review of fundamental theory and methodology for tremor suppression of human arm based on robotic exoskeleton technology
文章编号:
1673-4785(2012)04-0283-11
作者:
孙建1，向馗2，高理富1，李涛2，葛运建1
1. 中国科学院 合肥物质科学研究院,安徽 合肥 230031；
2.武汉理工大学 自动化学院，湖北 武汉 430070
Author(s):
SUN Jian1, XIANG Kui2, GAO Lifu1, LI Tao2, GE Yunjian1
1.Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China;
2. College of Automation, Wuhan University of Technology, Wuhan 430070, China
关键词:
震颤; 抑震机器人; 希尔伯特〖KG-*1/3〗-〖KG-*1/3〗黄变换; EMD分解; 信号处理
Keywords:
tremor;  robotic exoskeleton;  HilbertHuang transformation;  EMD;  signal analysis and processing
分类号:
TP18
文献标志码:
A
摘要:
介绍国内外利用康复医疗机器人技术和信号处理技术对人体手臂震颤进行抑制的主要研究成果，重点阐述基于“非药物”途径抑制人体手臂震颤的几个关键研究问题：1）震颤现象及其发生机制；2）常见震颤疾病的治疗现状；3）震颤信号的检测、分析、处理以及工程建模方法；4）基于康复机器人技术的手臂震颤抑制策略；5）震颤抑制效果的评估研究.并且重点介绍利用基于傅里叶变换的信号处理技术对震颤信号进行采集、处理与分析的研究现状，以及利用康复医疗机器人技术对震颤信号进行补偿与抑制的相关策略的研究现状分析，探讨“非药物”途径抑制人体手臂震颤的若干难点，为今后的研究工作奠定了基础.
Abstract:
The paper introduces a comprehensive review of research work about tremor suppression of human arm based on the theory and methods of "NonMedication" Methodology (robotic exoskeleton technology and signal processing technology) as the following aspects: 1) tremor and tremor mechanisms; 2) treatment of common tremor disorders; 3) tremor signal extraction and processing; 4) control strategies for tremor suppression based on rehabilitation robotic exoskeleton technologies; 5) study on the evaluation of tremor suppression strategies. In particular, special focus has been put on the current research on the tremor signal extraction and processing based on the Fourier technology and the HilbertHuang transform (HHT) and the ambulatory and nonambulatory tremor reduction and suppression technologies based on the rehabilitation robotic exoskeleton technologies. The paper introduces a comprehensive investigation of the key issues of the theory and methods of “nonmedication” tremor treatment, which lays the foundation for subsequent research.
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备注/Memo

收稿日期： 2011-12-08.
网络出版日期：2012-08-03.
基金项目：国家自然科学基金资助项目 (61105087)；安徽省自然科学基金资助项目(090412039). 
通信作者：孙建.
E-mail:jsun@iim.ac.cn.
作者简介：
孙建，男，1981年生，助理研究员，博士，主要研究方向为机器人技术及其应用研究.目前主持国家自然科学青年基金项目1项、安徽省自然科学基金项目1项，获得发明专利1项、实用新型专利2项，发表学术论文10余篇.
向馗，男，1976年生，副教授，博士，主要研究方向为生理信号处理和人机同步.目前主持国家自然科学青年基金项目1项、湖北省自然科学基金项目1项，发表学术论文20余篇.
高理富，男，1970年生，研究员，博士生导师，博士，主要研究方向为机器人及其传感器技术，主持完成多项国家级科研项目，发表学术论文10余篇.

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