| 引用本文: | 戴一鸣,陈嘉琛,刘晨东,杨大鹏,赵京东.可穿戴柔性上肢外骨骼的研究进展与展望[J].哈尔滨工业大学学报,2024,56(8):1.DOI:10.11918/202401061 |
| DAI Yiming,CHEN Jiachen,LIU Chendong,YANG Dapeng,ZHAO Jingdong.Research progress and prospect of wearable soft upper limb exoskeletons[J].Journal of Harbin Institute of Technology,2024,56(8):1.DOI:10.11918/202401061 |
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| 摘要: |
| 为研究可穿戴柔性上肢外骨骼的发展现状和其面临的关键技术难题,对目前该领域的文献进行了分析与总结。外骨骼可以有效地提供保护、支撑等功能,解决高强度重复性工作导致的肢体疲劳和身体机能衰退,以及中风或职业病导致的肢体运动障碍。此外,它们有能力通过额外的动力和功能来恢复或增强人类的运动能力。可穿戴柔性外骨骼作为一种新兴的外骨骼发展方向,相较于传统的刚性外骨骼,具有结构柔顺、人机交互性好和穿戴舒适性好等明显优势。首先,本研究结合柔性上肢外骨骼的3种主要驱动方式（绳驱、气动、形状记忆合金）,详细解析不同驱动方式的相关研究成果和相应结构特点。然后,从结构、材料、控制、辅助4个方面分析和阐述如今柔性上肢外骨骼面临的关键技术挑战。最后,结合外骨骼在不同领域应用的需求,推测未来柔性上肢外骨骼技术将向灵活化、舒适化、顺应化、智能化方向发展。研究表明,可穿戴柔性上肢外骨骼的技术尚处于初始阶段,仍有许多技术难题亟需解决,同时,新型的柔性执行器,柔性传感器等可为关键技术难题的突破提供参考。 |
| 关键词: 可穿戴外骨骼 柔性上肢外骨骼 人机交互 研究现状 发展趋势 |
| DOI：10.11918/202401061 |
| 分类号:TH789 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(52075114); 机器人技术与系统全国重点实验室助苗基金(SKLRS-2022-ZM-11); 哈尔滨工业大学医工理交叉基金(IR2021218) |
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| Research progress and prospect of wearable soft upper limb exoskeletons |
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DAI Yiming,CHEN Jiachen,LIU Chendong,YANG Dapeng,ZHAO Jingdong
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(State Key Laboratory of Robotics and Systems （Harbin Institute of Technology）, Harbin 150001, China)
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| Abstract: |
| To study the development status of wearable soft upper limb exoskeleton and its key technical challenges, the current literature in this field was analyzed and summarized. Exoskeletons can effectively provide functions such as protection and support to address limb fatigue and physical function decline resulting from high-intensity and repetitive work, as well as limb movement disorders caused by stroke or occupational diseases. Additionally, they have the capability to restore or enhance human movement ability through additional power and functionality. Wearable soft exoskeletons, as a new development direction of exoskeletons, have obvious advantages over traditional rigid exoskeletons, such as structural flexibility, human-machine interaction, and wearable comfort. Firstly, this paper provides a detailed analysis of three main driving methods of soft upper limb exoskeleton (rope drive, pneumatic, shape memory alloy). The relevant research results and corresponding structural characteristics of different driving methods are throughly examined. Then, the key technical challenges of soft upper limb exoskeleton are analyzed and expounded from four aspects: structure, material, control and auxiliary technology. Finally, considering the needs of exoskeleton applications in different fields, future trends in soft upper limb exoskeleton technology are speculated to focus on flexibility, comfort, compliance and intelligence. This study shows that the technology for wearable soft upper limb exoskeletons is still in its early stages, with many technical challenges to be solved. Futhurmore, breakthroughs in key technological challenges can be facilitated by novel soft actuators, soft sensors and other related advancements. |
| Key words: wearable exoskeletons soft upper-limb exoskeletons human-computer interaction research status development trend |
