穿戴式柔性下肢助力机器人发展现状及关键技术分析

穿戴式柔性下肢助力机器人技术在康复医疗、助老助残、生活起居等方面具有广阔的应用前景,具有质量轻、体积小、可穿戴性强、人机相容性好等优势.为促进我国柔性下肢助力机器人的研究和发展,总结国内外在该领域的研究进展,阐述了多种助力系统的组成、驱动原理和运动学信息等,分析了各助力系统的辅助力/矩传递规律及其助力效果.同时,对柔性下肢助力机器人所涉及的安全与可靠性、步态检测技术、驱动方式及控制策略、助力性能评估等关键技术进行了分析.在总结研究成果及分析关键技术的基础上,指出柔性下肢助力机器人今后的发展方向、研究思路和面临的挑战.对于柔性下肢助力机器人及相关的研究工作,具有一定的指导意义.

Advances and Key Techniques of Soft Wearable Lower Limb Power-assisted Robots

Soft wearable lower limb power-assisted robots have broad application prospects in the fields of rehabilitation, the elderly and the disabled, daily livings and other aspects of life, with the advantages of light weight, small volume, strong wearable feature, and human-machine compatibility. In order to promote the research and development of the soft wearable robots in China and summarize the research progress in those fields at home and abroad, the components, driving principle and kinematic information of various power assisted systems are discussed and the transfer law of the assistance force/moment and their power-assisted effect are analyzed. Moreover, key techniques such as the safety and reliability, gait detection, driving methods and control strategies, and power-assisted evaluation are analyzed in detail. On the basis of the above analysis, the future development, methods and challenges are presented, which has certain guidances for the related research works.