摘要
无动力下肢外骨骼机器人,可运用于医疗康复、运动助力以及负载作业等场景。系统阐述了无动力下肢外骨骼机器人的发展背景及助力形式;对国内外无动力下肢外骨骼机器人的研究历程进行综述,按多关节和单关节进行分类,重点总结了两类机器人的结构、特点、优劣势以及效能评估等;围绕无动力下肢外骨骼机器人的关键技术与未来发展趋势进行了分析与展望。
The unpowered lower extremity exoskeleton robot can be used in medical rehabilitation,sports assistance,load operation and other scenes.The development background and the forms of assistance of unpow⁃ered lower extremity exoskeleton robot are systematically expounded.The research history of unpowered lower extremity exoskeleton robots at home and abroad is summarized,it is classified according to multi joint and sin⁃gle joint,and the structure,characteristics,advantages and disadvantages,and efficiency evaluation of the two types of robots are summarized.According to the key technologies and future development trend of unpowered lower extremity exoskeleton robots,the analysis and prospect are carried out.
作者
郑凯
刘利利
王永奉
赵国如
Zheng Kai;Liu Lili;Wang Yongfeng;Zhao Guoru(School of Physics and Electronic Engineering,Northeast Petroleum University,Daqing 163000,China;Shenzhen Institutes of Advanced Technology,Key Laboratory of Human-Machine Intelligence-Synergy Systems,Chinese Academy of Sciences,Shenzhen 518055,China)
出处
《机械传动》
北大核心
2021年第4期166-176,共11页
Journal of Mechanical Transmission
基金
广东特支计划项目(2019TQ05Z735)
深圳市学科布局项目(JCYJ20170818163505850)。
关键词
无动力
下肢外骨骼
康复助力
负载承重
Unpowered
Lower extremity exoskeleton
Rehabilitation assistance
Load bearing
