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。
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.
作者
郭骐源
胡志刚
付东辽
Guo Qiyuan;Hu Zhigang;Fu Dongliao(School of Mechanical and Electrical Engineering,Henan University of Science and Technology,Luoyang 471003,China;School of Medical Technology and Engineering,Henan University of Science and Technology,Luoyang 471003,China)
出处
《机械传动》
北大核心
2023年第3期141-155,共15页
Journal of Mechanical Transmission
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
Upper limb assisted exoskeleton
Evaluation experiment
Human-robot interaction
Human motion intention recognition
Human-robot coordinated motion
