能量辅助骨骼服的研究现状及发展趋势

Research Status and Development Trend of Energy-assisted Exoskeleton Suit

借助外部智能装置提高自身能力是人类不断追求的目标,其表现形式之一为通过穿戴人机同型机器人(骨骼服)以增强人体能力。综合国内外文献发现,当前能量辅助骨骼服的研究已逐渐进入高潮期,但是仍然有许多亟待解决的关键技术,例如人体意图判断、骨骼服机械结构设计、能耗的降低以及穿戴舒适性的提高等。详细阐述了能量辅助骨骼服,特别是下肢能量辅助骨骼服在国内外的研究现状,探讨了骨骼服在结构形式、能源驱动、生物传感等方面的发展方向。

With external intelligent devices to improve the ability of human beings is the constant pursuit of the goal of mankind,its manifestations will be the human-machine robot similar to the structure of the human body,i.e.,the exoskeleton suit worn on the human body to enhance human capacity.References found at home and abroad that this energy-assisted exoskeleton suit has gradually reached a climax period,but still there are many key technologies to be solved,such as the human intent judgment,the mechanical structure design of the exoskeleton suit,the reduction of energy consumption,and the improvement of wearing comfortibleness,etc.The energy-assisted exoskeleton suit was elaborated,especially,the research status of lower limb energy-assisted exoskeleton suit at home and abroad,and the development directions of the exoskeleton suit in the structural style,energy drive and biosensing were also explored.