外肢体机器人研究现状及发展趋势  

Research Status and Development Trend of Supernumerary Robotic Limbs

作　　者：荆泓玮 朱延河[1] 赵思恺 张清华 赵杰[1] JING Hongwei;ZHU Yanhe;ZHAO Sikai;ZHANG Qinghua;ZHAO Jie(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《机械工程学报》2020年第7期1-9,共9页Journal of Mechanical Engineering

基　　金：国家重点研发计划资助项目(2018YFB1305400)。

摘　　要：外肢体机器人是一种新型的可穿戴人体辅助设备,通过与人类肢体的对接融合、互助协作来提高人体活动、感知、操作等能力,在工业生产、医疗康复、助老助残及生活服务等领域都有着广阔的应用前景。分别针对当前国内外的外肢体机器人研究情况,对其本体结构、控制方法、应用领域等方面进行了综述。根据不同的本体结构与功能将外肢体机器人分为外肢体与外手指;根据结构柔顺特性将外肢体机器人分为刚性外肢体机器人与柔性外肢体机器人;归纳分析了外肢体机器人的控制方式,主要包括肢体映射控制、肌电信号控制与脑机接口控制;分析总结了外肢体机器人面临的技术挑战,并对外肢体机器人的技术发展趋势做出了展望。Supernumerary robotic limbs are a new type of wearable human auxiliary equipment. Human’s ability of activity, perception and operation can be improved through cooperation with supernumerary robotic limbs. The broad application prospect of supernumerary robotic limbs is shown in the fields of industrial production, medical rehabilitation, elderly and disabled assistance and life services. Aiming at the current research situation of supernumerary robotic limbs at home and abroad, the noumenon structures, control methods and application fields are reviewed. According to different noumenon structures and functions, supernumerary robotic limbs are divided into extra limbs and extra fingers. From the aspect of structural flexibility, supernumerary robotic limbs are divided into rigid supernumerary robotic limbs and flexible supernumerary robotic limbs. The current control methods of supernumerary robotic limbs are summarized and analyzed, including limb mapping control, EMG signal control and brain-machine interface control. The technical challenges and trends ahead of supernumerary robotic limbs are also discussed.

关 键 词：可穿戴机器人 外肢体 外手指 人机交互 人机协作 人机共融 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]