外骨骼机器人驱动方式的研究  

Study on exoskeleton robot driving system

作　　者：张增峰[1] 陈炜[1,2] 李浩[1] 李坦东 侍才洪[2] 李瑞欣[2] 苏卫华[2] 张西正[1,2] 

机构地区：[1]天津理工大学机械工程学院,天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]军事医学科学院卫生装备研究所,天津300161

出　　处：《医疗卫生装备》2016年第8期126-129,共4页Chinese Medical Equipment Journal

摘　　要：外骨骼机器人是一种可穿戴的机械装置,为穿戴者的运动提供助力以提高穿戴者的运动能力和耐力。驱动系统作为外骨骼机器人的关键系统,是外骨骼机器人提供助力的动力来源。介绍了外骨骼机器人驱动系统的主要分类,并对不同驱动方式的优缺点进行了分析比较,为后续外骨骼机器人驱动系统的选择提供了参考。The exoskeleton robot is a wearable mechanism which can improve the moving ability and endurance of the wearer by providing extra power to his movement. As the key system of an extremity exoskeleton robot, the driving system is the source of the power. The classification of exoskeleton robot driving systems was introduced, and the advantages and disadvantages of theirs were compared, so that references were provided to further study on exoskeleton robot driving system.

关 键 词：外骨骼 机器人 驱动 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]