脑卒中偏瘫患者运动与感觉功能发生障碍，目前康复机器人提供运动训练缺乏感觉刺激，特别对于下肢康复，节律性步行受脊椎中央模式发生器的控制，传统的运动训练很难有效刺激到大脑皮层病灶区，导致神经康复效率偏低。为解决这一问题，本研究提出了感觉与运动统合训练的方法，在机器人提供运动训练的基础上结合感觉训练。论文工作内容主要包括以下四点：（1）探究了视觉反馈和振动触觉这两种感觉刺激在运动训练中的效果，以上肢康复机器人为运动训练平台；（2）针对下肢运动规律，研发用于下肢运动训练的康复平台；（3）开展了健康人感觉训练与下肢运动关系的探究性研究；（4）将感觉与运动统合训练的方法应用到下肢临床康复训练中，并对其效果进行了评价。首先探究感觉刺激与运动训练在康复中的关系。在现有上肢康复机器人运动训练的基础上，结合了视觉反馈和振动触觉两种感觉刺激方式，比较感觉训练与运动训练结合后对患者康复情况的效果。通过采集肌电信号和关节角度，探究在两种感觉刺激提示下运动特点。实验验证了感觉刺激在运动训练中的有益效果，特别是振动触觉。其次确定了运动训练方式，针对早期偏瘫患者无法站立和行走的特点，开发了一套下肢多位姿康复训练平台，在站立床的基础上，提供下肢运动训练。通过运动学和动力学建模，计算了步态训练方式的运动参数；建立位置——立场模型，实现了智能化的控制算法。健康人减重支撑实验，证明平台减重方式的舒适性和有效性；末端轨迹重复实验，验证了机构和控制的稳定性。再次开展了健康人预实验即感觉训练与下肢运动训练实验，总结了感觉训练中刺激位置和感觉提示周期与下肢运动之间的关系。健康受试者在触觉提示下下肢膝关节进行周期性的屈曲和伸展，采集膝关节角度，通过快速傅里叶变换，计算了下肢运动在频域上的特点，验证了感觉训练方式与下肢运动训练相结合的可行性。最后进行了感觉与运动统合训练方法的临床实验，评价其效果。根据前面的研究结论，利用下肢多位姿康复训练平台，将感觉与运动统合训练应用到下肢临床实验中，探究了在感觉刺激提示下健、患肢的交互关系，通过运动学检测和临床量表打分评价方法验证了感觉与运动统合训练方法在下肢康复训练中的效果。

Stroke patients with hemiplegia have motor and sensory dysfunction, and rehabilitation robots provide exercise training lack of sensory stimulation，especially for lower-limb rehabilitation training, conventional training method is difficult to effectively stimulate the cerebral cortex lesions resulting in low efficiency of rehabilitation because of spinal central pattern generator (CPG) which controls rhythmic walking of lower limbs. This study introduces one original method--sensory and motor integration training, which can effectively avoid the spinal nerves effects on the cerebral cortex in movement training for lower limbs. Two sensory stimulation vibrating tactile and visual feedbacks are compared in the rehabilitation training for upper limb. One set of lower-extremity rehabilitation exercise training platform is developed, and research on the relationship between sensory training and motor of lower- extremity in healthy people is carried out. Finally, sensory and motor integration training is applied to the lower-limb clinical rehabilitation training, and the effects are evaluated.Based on the mechanism of neural plasticity, the relationship between sensory stimuli and neurological rehabilitation is studied. In order to improve the efficiency of rehabilitation of stroke patients with hemiplegia, two kinds sensory stimulation vibrating tactile and visual feedback are combined with movement training of upper limb rehabilitation robot, and the effect of the two kinds of sensory training combined with movement training are compared through experiments. In the course of the experiment, EMG signals of subjects are collected and muscle contribution is calculated by normalization. Elbow joint angles are collected and characteristic of movement in sensory stimuli prompt in the frequency domain is explored. The beneficial effect of sensory stimulation in movement training of upper limb is validated, especially the vibrating tactile.For patients with hemiplegia in early stage unable to stand and walk, lower-limb multi-position rehabilitation training platform is developed based on standing bed, providing early movement training. Rotation angles and torque of motors are calculated in the training mode of simulating gait through kinematic and dynamic modeling. Intelligent control strategy is established by position-position model algorithm which can provide individualized rehabilitation programs for different subjects. Amenity and availability of the weight support method is proved by collecting axillary pressure in the weight support experiment for healthy human body. Stability of the mechanism and control algorithm is validated by collecting hip and knee joint angles in the terminal trajectory experiment.The inquiry experiment researching the relationship between vibrating tactile and lower-limb motor is carried out, and the location of vibration and vibrating alert time are studied during the experiment. The healthy subjects perform knee flexion and extension movement in the vibration prompt and their knee joint angles are acquired. Characteristics of lower limb motion in the frequency domain are calculated by fast Fourier transform. The experiment proves the feasibility of vibrating tactile this sensory training method combining with lower-limb movement training.Characteristics of vibrating tactile in upper-limb rehabilitation training and relationship between lower-limb motor and sensory training are respectively obtained according to the above two groups of experimental results. The sensory and motor integration training is applied to the lower-limb clinical experiment on the lower-limb multi-position rehabilitation training platform which explores the interactive relationship between healthy limb and affected one in the vibration prompt. The effect of sensory and motor integration training method in lower-limb rehabilitation training is evaluated through kinematic test and clinical scale score.