外骨骼机器人助力效能测试方法及应用综述  

A Review of the Evaluation Methods of Assisting Effectiveness of Exoskeleton Robot and Its Applications

作　　者：刘亚丽 鲁妍池 徐小龙 宋遒志[1,2] LIU Yali;LU Yanchi;XU Xiaolong;SONG Qiuzhi(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;Exoskeleton Technology Research and Development Center,Institute of Advanced Technology,Beijing Institute of Technology,Jinan 250300,Shandong,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京理工大学前沿技术研究院外骨骼技术研发中心,山东济南250300

出　　处：《兵工学报》2024年第8期2497-2519,共23页Acta Armamentarii

基　　金：国家自然科学基金青年基金项目(51905035);北京理工大学青年教师学术启动计划项目(XSQD-202202001)。

摘　　要：外骨骼机器人在军事、医疗及工业等领域展现出广阔的应用前景,迫切需要一套科学的外骨骼助力效能测试评估体系,以实现对外骨骼研发、产品迭代及实际使用的指导与规范。为全面把握现有性能测试方法,进行CiteSpace可视化科学知识图谱分析与数据统计,围绕代谢成本评估、生物电信号评估、运动学与动力学参数评估、工况表现评估和综合评价模型5类常见评估方法进行综述,总结其关键指标与技术局限,并从评估理论深入与测试方法、候选评估集合建立方法、综合评价模型结构设计与指标赋权方法、多场景测试方法4个方面,对外骨骼效能评估技术的未来发展提出展望,对完善外骨骼评估体系、实现技术横向比较具有实际意义。Exoskeleton robots have shown promising applications in military,medical and industrial fields.A scientific exoskeleton assisting effectiveness evaluation system is urgently needed to achieve guidance and specification for exoskeleton research and development,product iteration,and practical use.CiteSpace visualized scientific knowledge mapping analysis and data statistics are conducted to comprehensively grasp the existing performance evaluation methods.The current research status of 5 common assisting effectiveness evaluation methods is reviewed in detail,including metabolic cost evaluation,bioelectrical signal evaluation,kinematic and kinetic parameters evaluation,work performance evaluation,and comprehensive evaluation models,and their key indicators and technical limitations are summarized.An outlook on the development trends and research priorities of exoskeleton assisting effectiveness evaluation technology is presented from 4 aspects:evaluation theories deepening and test method,establishment method of targeted candidate evaluation sets,comprehensive evaluation model structure design and index weights assignment method,and multi-scene test method,which has practical significance to improve the exoskeleton testing system and realize technology horizontal comparison.

关 键 词：外骨骼机器人 助力效能测试 代谢成本 生物电信号 人体生物力学 综合评价模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]