基于纺织材料的柔性外骨骼机器人研究现状  

Application of textile materials in flexible exoskeleton robots

作　　者：刘月娟 傅宏俊[1] 李树锋[1] 郭欢 钟智丽[1] LIU Yuejuan;FU Hongjun;LI Shufeng;GUO Huan;ZHONG Zhili(School of Textile Science and Engineering,Tiangong University,Tianjin 300387,China;Rehabilitation Technical Aids Quality Supervision&Test Center,National Research Center for Rehabilitation Technical Aids,Beijing 100176,China)

机构地区：[1]天津工业大学纺织科学与工程学院,天津300387 [2]国家康复辅具研究中心康复辅具质量检验中心,北京100176

出　　处：《毛纺科技》2022年第11期119-127,共9页Wool Textile Journal

基　　金：国家自然科学基金项目(U2032133)。

摘　　要：柔性外骨骼机器人凭借其便携、高效、轻量化的特点逐渐成为可穿戴机器人领域的研究热点。为了进一步探讨纺织材料与柔性外骨骼机器人的关系,首先从外骨骼机器人的应用需求出发,对刚性和柔性外骨骼机器人的优缺点及适用人群进行分析和对比;然后详细综述了涉及纺织材料的柔性外骨骼机器人的发展现状,介绍了可用于柔性外骨骼机器人的新型纺织材料;最后围绕人体运动信息检测技术、绑缚系统的安全性与舒适性以及功能性纺织技术等方面对柔性外骨骼机器人关键技术进行分析。指出纺织材料在柔性外骨骼机器人的研发与制备方面具有不可或缺的作用。The flexible exoskeleton robot has gradually become a research hotspot in the field of wearable roboTSdue to iTSportability, high efficiency and light weight. In order to further explore the relationship between textile materials and flexible exoskeleton robots, the advantages and disadvantages of rigid and flexible exoskeleton roboTSas well as the applicable groups were analyzed and compared from the perspective of the application requiremenTSof exoskeletons. Then the development status of the flexible exoskeleton robot involving textile materials was reviewed in detail, and the new textile materials that can be used on the flexible exoskeleton robot were introduced. Finally, the key technologies of flexible exoskeleton robot were analyzed from the aspecTSof human motion information detection technology, safety and comfort of binding system and functional textile technology. It is pointed out that textile materials play an indispensable role in the development and fabrication of flexible exoskeleton robots.

关 键 词：柔性外骨骼机器人 纺织材料 助力 可穿戴机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]