生物启发和康复机器人

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智能机器人很快就会在我们的家庭、医院、办公室和户外服务。开发这种智能和自主机器人的一个关键方法是从生物系统的行为演示中获得灵感。事实上，使用这种方法，许多新的应用领域最近在机器人界引起了极大的兴趣，包括康复机器人、服务机器人、医疗机器人和娱乐机器人。很明显，面对当今复杂的应用要求，生物激发的方法变得越来越重要。机器人的生物灵感导致了具有感觉-运动协调的复杂结构，在这种结构中，学习往往在实现适应中发挥重要作用。此外，康复机器人在不断发展的生物医学机器人领域产生了令人兴奋的新想法和新颖的人类辅助装置。康复机器人技术的科学和技术将通过机器人研究人员、医生和病人之间的合作取得进展。

本期特别关注从生物系统进化到智能机器人的理论和技术挑战。共收到投稿33篇，经正式同行评审，最终收录18篇原创研究论文。接受的论文可以进一步分为三个相关的主题，即:用于人类辅助和康复的外骨骼系统，用于精细操作和外科手术的仿生机械臂设计，以及用于人类中心应用的仿生传感系统开发。

在外骨骼研究中，一个重点是下肢应用。a . Yatsugi等人研究了脊柱手术患者使用混合辅助肢体进行神经康复的可行性。介绍了治疗指标，并进行了真实患者实验，证明了脊柱手术后采用下肢外骨骼神经康复治疗是可行的。对于类似的应用，Q. Chen等人提出了一种新的步态规划方法，旨在在步行辅助过程中提供可靠和平衡的步态。外骨骼和患者共同建模为线性倒立摆(LIP)，通过轨道能量图获得患者的意图。实验结果证明了该方法的有效性。Y. Liu等人开发了一种具有跖趾关节的可穿戴动力足矫形器，该关节被认为是人类运动的关键部件。实验结果也表明，所设计的系统在某些康复应用和临床治疗方面有希望。S. Jin等人还开发了一种柔性机器人服，用于帮助老年人在日常生活活动中进行髋关节屈曲，在长距离水平和倾斜行走时降低代谢成本。实验结果表明，对于一名79岁健康男性受试者，机器人服在穿戴机器人服并通电的情况下，与穿戴机器人服但断电的情况相比，显著降低了代谢成本。 To assist customized gait planning for stable motion in variable terrains in lower limb exoskeleton-based rehabilitation walking, C. Yue et al. developed a novel wearable sensing system employing 7 force sensors as a sensing matrix to achieve high accuracy of ground reaction force detection. By fusing force and angular velocity data, four typical terrain features are able to be recognized successfully, and the recognition rate can reach up to 93%. For the upper limb rehabilitation, W. Wei et al. developed a soft arm exoskeleton-based Bowden cable-driven system. The movement of the shoulder skeletal system through a mathematical model based on the Bowden cable transmission was explored, and the experimental results show that man-machine interaction force can be reduced when the number of bearing force points is increased and the bearing force point is away from the elbow. To fully understand the human shoulder mechanism to rehabilitation exoskeleton design, a new skeleton model and the motion rhythm analysis for human shoulder complex were proposed by S. Zhibin et al. Experimental data were analyzed and proved the proposed model effectiveness. One of the big topics in exoskeleton research is the human-robot interfacing. EMG has been widely used, and B. Gao et al. studied the real-time evaluation of the sEMG signal processing in an upper arm exoskeleton system for rehabilitation. The experimental results showed that the recognition accuracy of sEMG was 94%, and the average delay time was 300 ms, which met the requirements in the real rehabilitation process.

生物系统为工程师开发新的操作和传感系统提供了良好的参考和启示。H. Al-Shuka等人对仿生运动机器人的主动阻抗控制进行了评述。对不同的控制策略进行了总结和比较，为今后新的系统控制开发提供参考。通过对人体解剖学和肌肉控制系统的学习，Ide和Nishikawa开发了一种基于吸引子选择的非对称对抗驱动肌肉骨骼机器人的肌肉协调控制系统。通过实验验证了该控制方法的有效性。在充分探索人类肘关节复杂性的基础上，进行了运动学解耦分析，由B. Cui等人设计了一种新型仿生机器人肘关节。详细说明了运动学和设计，并进行了仿真试验。同样，以低成本为目标，制作了用于肩关节分离的全7自由度假臂。推荐3D打印方法，最终原型重1350克，并进行评估，以显示其在日常生活活动中的有效性。除了假体，Y. Jiang等人还开发了一种生物激发导管系统，用于力反馈的血管内治疗。 An initial clinical trial was conducted and showed the feasibility of the developed system. Apart from a human, a soft robotic fish was presented by W. Zhao et al. by using piezoelectric fiber composite (PFC) as flexible actuator based on numerical coupling analysis. On the bioinspired sensing side, a novel micro-photoionization detector for rapid volatile organic compound measurement was developed by Q. Zhou et al. The testing results showed that the ion collection efficiency reached 91% at a bias voltage of 150 V. To target microdistance and force perception, a magnetostrictive bioinspired whisker sensor based on the galfenol composite cantilever beam was developed to realize bidirectional tactile perception. In the experiment, the designed whisker, compared with a traditional unimorph whisker, displayed an output voltage range of -240 to 240 mV, the distance was 0-22 mm, with the microforce sensing range of 9.8-2,744 mN, the average distance of 10.90 mm/mV, and the force sensitivity of 11.4 mN/mV. The experimental results show that the proposed whisker sensor can realize the bidirection tactile perception in one-dimensional space. The automatic measurement, especially for products with complex shapes, has always been one of the most important application areas of robots. Aiming at the challenge of measuring residual stress under the curved surface, Q. Pan et al. proposed a robotic system for the residual stress ultrasonic measuring based on combining industrial robot technology with residual stress ultrasonic nondestructive measuring technology. Irregular vibration of the vocal cords corresponding to a variety of voice disorders can be observed with electronic laryngoscope to assist diagnosing vocal cord disease. However, laryngoscopy examination is invasive, and the outcomes are relatively subjective. Acoustic analysis can complement and in some cases replace the other invasive methods, which are based on direct vocal fold observation. Based on this, X. Zhang et al. designed a pathological voice source analysis system by integrating nonlinear dynamics with an optimized asymmetric two-mass model to explore nonlinear characteristics of vocal cord vibration. Changes in acoustic parameters, such as fundamental frequency, caused by distinct subglottal pressure and varying degrees of vocal cord paralysis are analyzed. Experimental results validate the applicability of the proposed model to reproduce vocal cord vibration with high accuracy and show that a paralyzed vocal cord increases the model coupling stiffness.

因此，本期特刊介绍了人类辅助康复机器人外骨骼、仿生假肢、机械手和传感系统的建模、设计、分析、实施和治疗性测试方面的最新进展。我们希望这些知识和信息将为进一步发展以人为本的科技领域提供良好的参考和基础。

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