多关节外骨骼助力机器人发展现状及关键技术分析

doi:10.3969/j.issn.1000-1093.2016.01.025

摘要/Abstract

摘要： 外骨骼助力机器人突破了传统运载工具易受地形条件影响的限制，在军用领域和民用领域都展现了巨大的应用前景，是当前各国研究的热点。从负重外骨骼助力机器人和康复外骨骼助力机器人两个方面，综述了国内外多关节外骨骼助力机器人的发展现状。重点分析了人机匹配性设计、驱动方式、步态检测、人机协同行走控制策略以及助力效果评估等关键技术，并对多关节外骨骼助力机器人今后的研究方向及研究重点进行了展望。

关键词: 控制科学与技术, 外骨骼, 助力机器人, 辅助设备, 多关节

Abstract: The exoskeleton-assisted robot has broken through the limit of that the traditional vehicle is influenced by the terrain conditions easily, show the wide application prospect in the military and civilian fields, and became a research hotspot. The domestic and international developing status of the multi-joint exoskeleton-assisted robots is reviewed in terms of load exoskeletons and rehabilitation exoskeletons. The key technologies of the multi-joint exoskeleton-assisted robots are also summarized and analyzed in the areas of human-machine matching, driving mode, gait detection, control strategy of human-machine cooperation movement, and power-assisted evaluation. The future research direction and focus of the multi-joint exoskeleton-assisted robots are suggested.

Key words: control science and technology, exoskeleton, power-assisted robot, assistive equipment, multi-joint

中图分类号:

R318
TP242

宋遒志，王晓光，王鑫，汪阳. 多关节外骨骼助力机器人发展现状及关键技术分析[J]. 兵工学报, 2016, 37(1): 172-185.

SONG Qiu-zhi， WANG Xiao-guang， WANG Xin， WANG Yang. Development of Multi-joint Exoskeleton-assisted Robot and Its Key Technology Analysis: an Overview[J]. Acta Armamentarii, 2016, 37(1): 172-185.

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