上肢助力外骨骼研究综述

郭骐源; 胡志刚; 付东辽

doi:10.16578/j.issn.1004.2539.2023.03.020

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上肢助力外骨骼研究综述

综述 | 更新时间：2023-03-29

- 上肢助力外骨骼研究综述
- Review of Research on Upper Limb Assisted Exoskeletons
- 机械传动 2023年47卷第3期页码：141-155
- 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：
  
  郭骐源（1997— ），男，河南郑州人，硕士研究生；研究方向为外骨骼机器人；g70ena@163.com。
  胡志刚（1972— ），男，河南开封人，教授，博士生导师；研究方向为生-机智能交互与医用机器人技术、生物医学信号传感检测等；hu.robert@163.com。
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.03.020
  中图分类号：
- 纸质出版日期：2023-03-15，
  
  收稿日期：2022-02-28，
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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