J Shanghai Jiaotong Univ Sci ›› 2024, Vol. 29 ›› Issue (1): 1-15.doi: 10.1007/s12204-022-2489-3

• •    下一篇



  1. 南京理工大学 机械工程学院,南京 210094
  • 接受日期:2021-11-11 出版日期:2024-01-24 发布日期:2024-01-24

Review of Power-Assisted Lower Limb Exoskeleton Robot

HE Guisong(贺桂松),HUANG Xuegong*(黄学功),LI Feng (李峰), WANG Huixing (汪辉兴)   

  1. (School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 219904, China)
  • Accepted:2021-11-11 Online:2024-01-24 Published:2024-01-24

摘要: 助力型下肢外骨骼机器人是一种可穿戴智能机器人系统,涉及力学、材料、电子、控制、机器人学等诸多领域。该系统借助外部能源为人类提供额外的动力,可以增强人体的机能,帮助穿戴者承受以往无法承受的重量。同时,通过合理的结构设计和被动储能等方式,还可以对特定动作进行辅助。本文首先介绍了助力型下肢外骨骼机器人在国内外的研究现状,针对几种典型样机进行了详细分析。之后又对其结构设计、驱动方式、感知技术、控制方法、能源管理、人机耦合等关键技术进行了综述,并将外骨骼机器人常用的一些设计方法进行了归纳与对比。最后总结了助力型下肢外骨骼机器人研究中依旧存在的问题和可能的解决方案,并对未来的发展趋势进行了展望。

关键词: 助力型, 下肢外骨骼机器人, 研究现状, 关键技术

Abstract: Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials, electronics, control, robotics, and many other fields. The system can use external energy to provide additional power to humans, enhance the function of the human body, and help the wearer to bear weight that is previously unbearable. At the same time, employing reasonable structure design and passive energy storage can also assist in specific actions. First, this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad, and analyzes several typical prototypes in detail. Then, the key technologies such as structure design, driving mode, sensing technology, control method, energy management, and human-machine coupling are summarized, and some common design methods of the exoskeleton robot are summarized and compared. Finally, the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized, and the prospect of future development trend has been analyzed.