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Review of Research on Upper Limb Assisted Exoskeletons
- Journal of Mechanical Transmission Vol. 47, Issue 3, Pages: 141-155(2023)
- 作者机构：
1.河南科技大学 机电工程学院， 河南 洛阳 471003
2.河南科技大学 医学技术与工程学院， 河南 洛阳 471003
- 作者简介：
- 基金信息：
DOI：10.16578/j.issn.1004.2539.2023.03.020
CLC：Published：15 March 2023，
Received：28 February 2022，
扫 描 看 全 文
郭骐源,胡志刚,付东辽.上肢助力外骨骼研究综述[J].机械传动,2023,47(03):141-155.
Guo Qiyuan,Hu Zhigang,Fu Dongliao.Review of Research on Upper Limb Assisted Exoskeletons[J].Journal of Mechanical Transmission,2023,47(03):141-155.
郭骐源,胡志刚,付东辽.上肢助力外骨骼研究综述[J].机械传动,2023,47(03):141-155. DOI： 10.16578/j.issn.1004.2539.2023.03.020.
Guo Qiyuan,Hu Zhigang,Fu Dongliao.Review of Research on Upper Limb Assisted Exoskeletons[J].Journal of Mechanical Transmission,2023,47(03):141-155. DOI： 10.16578/j.issn.1004.2539.2023.03.020.
摘要
简述了在当前疫情灾情多发、劳动力资源短缺的情况下开发上肢助力外骨骼的重要意义，介绍了外骨骼的发展历程、分类方式以及上肢助力外骨骼的特点、适用人群、应用场景等。详细介绍了国内外上肢助力外骨骼相关研究成果和产品，包括其基本构造以及评估实验结果，并对其中的关键技术（如驱动和传动、人机交互中所涉及的人体运动意图识别、人机协同运动等）进行了阐述和分析。总结了当前研究中仍存在的问题，并对上肢助力外骨骼未来的发展趋势进行了展望。
Abstract
The significance of developing upper limb assisted exoskeletons in the current epidemic situation
frequent disasters and shortage of labor resources is briefly described. The development history
classification methods of exoskeletons and the characteristics
applicable groups
application scenarios of upper limb assisted exoskeletons are introduced. The research results and products related to upper limb assisted exoskeletons at home and abroad are reviewed in detail
including their basic structure and evaluation experimental results
and the key technologies are described and analyzed such as the drive and transmission
human motion intention recognition
human-robot coordinated motion involved in human-robot interaction
etc. The existing problems in the current research are summarized and the future development trend of upper limb assisted exoskeletons is prospected.
关键词
上肢助力外骨骼评估实验人机交互人体运动意图识别人机协同运动
Keywords
Upper limb assisted exoskeletonEvaluation experimentHuman-robot interactionHuman motion intention recognitionHuman-robot coordinated motion
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