面向柔性外骨骼机器人的纺织材料研究现状

Current status of research on textile materials for flexible exoskeleton robots

基于纺织材料的柔性外骨骼机器人有效解决了刚性外骨骼机器人顺应性差、笨重、穿戴舒适性差等问题。文章介绍了柔性外骨骼机器人的发展现状,重点介绍了主要的驱动结构(包括线驱动、气动肌肉和液压驱动等),柔性外骨骼机器人主要采用的纺织材料(形状记忆材料、电活性聚合物、碳纤维和水凝胶材料等),并剖析了纺织材料在柔性外骨骼领域应用所面临的困难,并提出了今后的发展方向。

The flexible exoskeleton based on textile materials effectively solves the problems of poor compli⁃ance,bulkiness,and poor wearing comfort of rigid exoskeleton robots.The development status of the flexible exoskeleton robot is introduced,focusing on the main drive structures(including wire drive,pneumatic muscle and hydraulic drive),the textile materials(shape memory materials,electroactive polymers,carbon fibers and hydrogels)mainly used by the flexible exoskeleton robot.The application difficulties of textile materials in the flexible exoskeleton field are analyzed,and the future development direction is put forward.