柔性外骨骼助力机器人发展现状综述

A Review of the Development of Flexible Exoskeleton Assisted Robots

与传统刚性外骨骼机器人不同的是柔性外骨骼助力机器人具有轻量化、低惯性、人机贴合性好、柔顺安全等优点.综述当今国内外柔性外骨骼机器人的发展现状,重点分析人机柔性匹配性技术、驱动系统、传感器感知系统、智能控制系统等关键技术,并对其应用前景、研究方向和重点进行展望.

Different from traditional rigid exoskeleton robots,flexible exoskeleton assistant robots have the advantages of lightweight,low inertia,good man-machine fit,suppleness and safety.This paper reviews the status quo of flexible exoskeleton robots at home and abroad,and focuses special attention on studying some key technologies such as man-machine flexible matching technology,drive systems,sensor sensing systems,and intelligent control systems.Moreover,application prospects,research directions and focus of flexible assistant exoskeleton robots are presented.