新华社北京9月18日电 题：机器人成"康复助手"？先学好周期运动 新华社记者宋晨 当前，机器人已经可以完成多种多样的任务，如精准地搬运货物、装配复杂零件，然而想使其"丝 滑"完成既定轨迹的周期运动，仍是一大难题。 "患者需要每天反复完成'手臂画圈'或'抬腿摆动'的训练，机器人像一位耐心的康复教练，确保训练 效果。"中国科学院自动化研究所研究员程龙说，这将为个性化、可重复的康复治疗提供有效技术支 撑。 为将理论落地到机器人模仿学习中，团队通过努力，既保证动力学模型的表达能力，又方便引入稳 定性约束。 "机器人周期运动更具潜力的应用场景是在康复训练中。"侯增广说，其稳定、精确的重复运动可以 帮助患者进行节律性上肢或步态训练，恢复运动功能和肌肉控制能力。 在与康复科医生合作的实验中，团队利用光学动作捕捉系统记录了医生引导患者手臂完成的周期康 复动作。通过学习这些轨道稳定的动力学模型，机器人可以在执行康复任务时，克服患者动作偏差或外 界碰撞等扰动影响，保持标准的康复轨迹。 模拟测试证明，该方法在平均误差、轨迹偏差程度、形状稳定性等多个衡量机器人"轨迹是否标 准"的指标上均取得最佳表现，尤其在长时间运动中能够保持稳定的 ...

Core Insights - A new framework for trajectory stability learning has been proposed by a research team at the Institute of Automation, Chinese Academy of Sciences, which shows promise for applications in robot-assisted rehabilitation training [2][3] - The framework addresses the challenge of maintaining consistent periodic motion in robots, which is crucial for tasks such as rehabilitation exercises and synchronized operations on production lines [2][3] Group 1: Research and Development - The research was published on September 18 in the International Journal of Robotics Research, highlighting advancements in robot motion control [2] - Traditional robot skill learning methods require pre-programmed action sequences, which are time-consuming and limit adaptability in complex environments [2][3] - The introduction of transverse contraction theory provides theoretical support for the stability of learned dynamic systems, ensuring robots can return to a stable periodic trajectory regardless of initial conditions [3] Group 2: Applications and Benefits - The new method has shown superior performance in maintaining trajectory accuracy, especially during prolonged movements, making it particularly suitable for rehabilitation training [3] - Robots can assist patients in repetitive exercises, such as arm circular motions or leg swings, acting as patient rehabilitation coaches to enhance training effectiveness [4] - Collaborations with rehabilitation doctors have demonstrated the ability of robots to maintain standard rehabilitation trajectories despite patient movement deviations or external disturbances [3][4]