外骨骼机器人关节的机械结构和控制技术研究进展

Research Progress on Mechanical Structure and Control Technology of Exoskeleton Robot Joint

近年来外骨骼技术发展迅速,涉及到的技术多种,本文从机械结构和控制技术两个方面综述了当前外骨骼领域的研究现状,详细分析驱动、结构、自锁、信号源和控制环节的关键技术。

In recent years, exoskeleton technology develops rapidly, involving a variety of technologies. This paper reviews the current research status of exoskeleton from two aspects of mechanical structure and control technology, and analyzes the key technologies of drive, structure, self-locking, signal source and control in detail.