有源刚性下肢助力外骨骼研究现状与关键技术分析  

Research Status and Key Technology Analysis of Active Rigid Lower Limb Assisted Exoskeleton

作　　者：李仲[1] 管小荣[1,2] 李回滨 何龙 龙亿[2,3] LI Zhong;GUAN Xiaorong;LI Huibin;HE Long;LONG Yi(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China;Hangzhou Zhiyuan Research Institute,Hangzhou 310013,Zhejiang,China;Faculty of Robot Science and Engineering,Northeastern University,Shenyang 110000,Liaoning,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094 [2]杭州智元研究院,浙江杭州310013 [3]东北大学机器人科学与工程学院,辽宁沈阳110000

出　　处：《兵工学报》2024年第S01期262-270,共9页Acta Armamentarii

摘　　要：有源刚性下肢助力外骨骼系统是一种穿戴在人身体上的伴随式智能装备,单兵穿戴者通过它能提高人体负载与机动能力。从有源刚性下肢助力外骨骼的国内外研究现状出发,概述了当前助力增强型有源刚性下肢外骨骼的发展现状,并围绕国内外已有研究的进展,对影响下肢助力外骨骼发展的传感感知、机械构型与驱动、控制技术等核心关键技术进行了分析与总结,特别考虑了外骨骼在应对士兵这类特殊群体时的技术难点,为有源刚性下肢助力外骨骼在单兵装备的发展上提供一定的参考价值。Active rigid lower limb assisted exoskeleton system is an intelligent device worn on the human body that can improve the load capacity and mobility of individual soldiers.The current research status and development of active rigid lower limb assisted exoskeletons at home and abroad are summarized.The key technologies,such as sensing,mechanical structure,actuator,and control technology,that affect the development of lower limb assisted exoskeletons,are analyzed and summarized based on existing research.Special consideration is given to the technical difficulties of exoskeletons for special groups,such as soldiers,providing valuable insights for the development of active rigid lower limb assisted exoskeletons for soldier equipment.

关 键 词：外骨骼 传感 构型 驱动 控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]