柔性下肢外骨骼机器人研究进展及关键技术分析
Development of Soft Lower Extremity Exoskeleton and Its Key Technologies: A Survey
查看参考文献143篇
文摘
|
首先简要描述了下肢外骨骼机器人在康复、工业以及军事等领域的应用需求,并对刚性与柔性下肢外骨骼系统(RLEEX/SLEEX)的优缺点、研究难点和适用人群进行了分析与对比.然后,对国内外研究机构在柔性下肢外骨骼机器人方面的研究历程与进展进行详细综述,重点描述了系统样机的结构与驱动特点、传感器布局方式、控制策略搭建以及助力效能评估等几项研究内容.最后,围绕柔性结构、意图识别、控制策略及助力评估共四方面关键技术进行了总结,并对未来发展趋势进行展望. |
其他语种文摘
|
Firstly, the application requirements of lower extremity exoskeletons in rehabilitation, industry as well as military fields are introduced briefly, and the pros and cons, research problems and applicable population of rigid and soft lower extremity exoskeletons (RLEEX/SLEEX) are analyzed and compared. Subsequently, the research process and progress of SLEEX at home and abroad are illustrated in great detail, especially in mechanisms and actuation, sensors layout, development of control strategies as well as assessment of the assistance performance. Finally, the key technologies related to the SLEEX, including soft structure, human intention recognition, control strategies and assistance assessment, are summarized, and the future research direction is prospected. |
来源
|
机器人
,2020,42(3):365-384 【核心库】
|
DOI
|
10.13973/j.cnki.robot.190474
|
关键词
|
康复机器人
;
下肢外骨骼机器人
;
动力服
;
人体意图识别
|
地址
|
1.
中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 辽宁, 沈阳, 110016
2.
中国科学院机器人与智能制造创新研究院, 辽宁, 沈阳, 110169
3.
中国科学院大学, 北京, 100049
|
语种
|
中文 |
文献类型
|
研究性论文 |
ISSN
|
1002-0446 |
学科
|
自动化技术、计算机技术 |
基金
|
国家自然科学基金深圳联合基金
;
辽宁省博士启动基金
|
文献收藏号
|
CSCD:6766464
|
参考文献 共
143
共8页
|
1.
Population Division of the Department of Economic and Social Affairs of the Unit.
2019 Revision of World Population Prospects,2019
|
被引
1
次
|
|
|
|
2.
第二次全国残疾人抽样调查领导小组.
2006年第二次全国残疾人抽样调查主要数据公报,2006
|
被引
2
次
|
|
|
|
3.
Zhou M G. Mortality, morbidity, and risk factors in China and its provinces, 1990-2017: A systematic analysis for the Global Burden of Disease Study 2017.
Lancet,2019,394(10204):1145-1158
|
被引
210
次
|
|
|
|
4.
王陇德. 我国脑卒中防治仍面临巨大挑战-《中国脑卒中防治报告2018》概要.
中国循环杂志,2019,34(2):105-119
|
被引
177
次
|
|
|
|
5.
Schiele A. Ergonomics of exoskeletons: Objective performance metrics.
3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems,2009:103-108
|
被引
1
次
|
|
|
|
6.
中国残疾人联合会.
2018年残疾人事业发展统计公报,2019
|
被引
3
次
|
|
|
|
7.
Asbeck A T. Stronger, smarter, softer: Next-generation wearable robots.
IEEE Robotics & Automation Magazine,2014,21(4):22-33
|
被引
10
次
|
|
|
|
8.
Asbeck A T. Biologically-inspired soft exosuit.
IEEE International Conference on Rehabilitation Robotics,2013
|
被引
1
次
|
|
|
|
9.
Asbeck A T. A biologically inspired soft exosuit for walking assistance.
International Journal of Robotics Research,2015,34(6):744-762
|
被引
22
次
|
|
|
|
10.
Lee S. Controlling negative and positive power at the ankle with a soft exosuit.
IEEE International Conference on Robotics and Automation,2016:3509-3515
|
被引
3
次
|
|
|
|
11.
Malcolm P. Varying negative work assistance at the ankle with a soft exosuit during loaded walking.
Journal of NeuroEngineering and Rehabilitation,2017,14
|
被引
6
次
|
|
|
|
12.
Quinlivan B T. Assistance magnitude versus metabolic cost reductions for a tethered multiarticular soft exosuit.
Science Robotics,2017,2(2)
|
被引
12
次
|
|
|
|
13.
Ding Y. Multi-joint actuation platform for lower extremity soft exosuits.
IEEE International Conference on Robotics and Automation,2014:1327-1334
|
被引
6
次
|
|
|
|
14.
Asbeck A T. Multi-joint soft exosuit for gait assistance.
IEEE International Conference on Robotics and Automation,2015:6197-6204
|
被引
4
次
|
|
|
|
15.
Panizzolo F A. A biologicallyinspired multi-joint soft exosuit that can reduce the energy cost of loaded walking.
Journal of NeuroEngineering and Rehabilitation,2016,13
|
被引
5
次
|
|
|
|
16.
Ding Y. Biomechanical and physiological evaluation of multi-joint assistance with soft exosuits.
IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017,25(2):119-130
|
被引
8
次
|
|
|
|
17.
Lee S. Autonomous multi-joint soft exosuit for assistance with walking overground.
IEEE International Conference on Robotics and Automation,2018:2812-2819
|
被引
3
次
|
|
|
|
18.
Bae J. A soft exosuit for patients with stroke: Feasibility study with a mobile off-board actuation unit.
IEEE/RAS-EMBS International Conference on Rehabilitation Robotics,2015:131-138
|
被引
1
次
|
|
|
|
19.
Awad L N. A soft robotic exosuit improves walking in patients after stroke.
Science Translational Medicine,2017,9(400)
|
被引
1
次
|
|
|
|
20.
Bae J. A lightweight and efficient portable soft exosuit for paretic ankle assistance in walking after stroke.
IEEE International Conference on Robotics and Automation,2018:2820-2827
|
被引
5
次
|
|
|
|
|