Research Status and Key Technology Analysis of Active Rigid Lower Limb Assisted Exoskeleton

doi:10.12382/bgxb.2024.0508

Abstract

Abstract:

Active rigid lower limb assisted exoskeleton system is an intelligent device worn on the human body that can improve the load capacity and mobility of individual soldiers. The current research status and development of active rigid lower limb assisted exoskeletons at home and abroad are summarized. The key technologies, such as sensing, mechanical structure, actuator, and control technology, that affect the development of lower limb assisted exoskeletons, are analyzed and summarized based on existing research. Special consideration is given to the technical difficulties of exoskeletons for special groups, such as soldiers, providing valuable insights for the development of active rigid lower limb assisted exoskeletons for soldier equipment.

Key words: exoskeleton, sensor, structure, actuator, control

CLC Number:

TP242

LI Zhong, GUAN Xiaorong, LI Huibin, HE Long, LONG Yi. Research Status and Key Technology Analysis of Active Rigid Lower Limb Assisted Exoskeleton[J]. Acta Armamentarii, 2024, 45(S1): 262-270.

Figures/Tables 4

References 58

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外骨骼	自由度	驱动自由度	驱动方式	参考来源
BLEEX	HF-HA-HR-KF-AF-AA-AR	HF-HA-KF-AF	液压	文献[4]
XOS-2	—	—	液压	文献[6]
ONYX	—	KF	电机	文献[8]
HAL-5-B	HF-KF-AF	HF-KF	电机	文献[10]
HEXAR	HF-HA-HR-KF-AF-AA-AR	HF-KF	电机	文献[11]
HUMA	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[13]
BE	HF-HA-HR-KF-AF-AA	HF-HA-HR-KF-AF-AA	电机	文献[14]
LB-AXO	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[16]
WPAL	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[24]
华东理工	HF-HA-HA-HR-KF-AF-AA	KF	液压	文献[27]
HIT-LEX	HF-HA-HR-KF-AF-AA	HF-HA-KF	电机	文献[29]
APAL	HF-HA-HR-KF-AF-AA	HF-KF	液压	文献[30]
中科大	HF-HA-KF-AF	HF-HA-KF	电机	文献[31]
BES-PRO	—	HF-KF	电机	文献[34]

外骨骼	自由度	驱动自由度	驱动方式	参考来源
BLEEX	HF-HA-HR-KF-AF-AA-AR	HF-HA-KF-AF	液压	文献[4]
XOS-2	—	—	液压	文献[6]
ONYX	—	KF	电机	文献[8]
HAL-5-B	HF-KF-AF	HF-KF	电机	文献[10]
HEXAR	HF-HA-HR-KF-AF-AA-AR	HF-KF	电机	文献[11]
HUMA	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[13]
BE	HF-HA-HR-KF-AF-AA	HF-HA-HR-KF-AF-AA	电机	文献[14]
LB-AXO	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[16]
WPAL	HF-HA-HR-KF-AF-AA	HF-KF	电机	文献[24]
华东理工	HF-HA-HA-HR-KF-AF-AA	KF	液压	文献[27]
HIT-LEX	HF-HA-HR-KF-AF-AA	HF-HA-KF	电机	文献[29]
APAL	HF-HA-HR-KF-AF-AA	HF-KF	液压	文献[30]
中科大	HF-HA-KF-AF	HF-HA-KF	电机	文献[31]
BES-PRO	—	HF-KF	电机	文献[34]

方法	预编程	直接力反馈	地面力反馈	零力矩点控制法	肌电信号控制法	操作者控制	主从控制	灵敏度放大	虚拟力控制
适应不同操作者	2	3	2	1	1	5	1	1	5
执行不同动作	1	5	5	5	2	1	5	3	5
控制器稳定性	2	5	2	5	1	1	5	1	3
人机工程学	5	2	4	2	5	5	2	4	4
非强加于人	5	2	3	2	2	1	1	5	5
研发速度	4	2	3	3	1	4	2	3	5
测人传感器少	5	2	3	1	1	3	2	1	5
测外骨骼传感器少	4	3	1	1	3	3	4	1	1
硬件复杂性低	5	2	2	3	5	5	1	2	4
计算需求量低	3	3	1	4	2	5	4	5	2

方法	预编程	直接力反馈	地面力反馈	零力矩点控制法	肌电信号控制法	操作者控制	主从控制	灵敏度放大	虚拟力控制
适应不同操作者	2	3	2	1	1	5	1	1	5
执行不同动作	1	5	5	5	2	1	5	3	5
控制器稳定性	2	5	2	5	1	1	5	1	3
人机工程学	5	2	4	2	5	5	2	4	4
非强加于人	5	2	3	2	2	1	1	5	5
研发速度	4	2	3	3	1	4	2	3	5
测人传感器少	5	2	3	1	1	3	2	1	5
测外骨骼传感器少	4	3	1	1	3	3	4	1	1
硬件复杂性低	5	2	2	3	5	5	1	2	4
计算需求量低	3	3	1	4	2	5	4	5	2