面向人本智造的工业外骨骼:挑战、进展和展望  

Industrial exoskeleton for human-centric smart manufacturing:Challenges,progress and prospects

作　　者：程鼎豪 娄山河 郑浩[1,3] 胡炳涛 洪兆溪 冯毅雄 谭建荣[1] CHENG Dinghao;LOU Shanhe;ZHENG Hao;HU Bingtao;HONG Zhaoxi;FENG Yixiong;TAN Jianrong(State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310030,China;School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore 639798;Hangzhou Innovation Institute,Beihang University,Hangzhou 310051,China)

机构地区：[1]浙江大学流体动力基础件与机电系统全国重点实验室,浙江杭州310027 [2]南洋理工大学机械与宇航工程学院,新加坡639798 [3]北京航空航天大学杭州创新研究院,浙江杭州310051

出　　处：《计算机集成制造系统》2024年第12期4179-4197,共19页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(52130501,52205288,52105281);浙江省自然科学基金资助项目(LGG21E050003)。

摘　　要：以人为本是工业5.0的重要特征之一,实现以人为本的安全生产是工业5.0背景下人本智造的基本要求。工业生产中仍有部分场景离不开人的精细操作和智能决策,在这些场景中实现以人为本的安全生产可以保护工人安全和提高生产效率。工业外骨骼可以帮助工人减轻身体负担和风险,提高安全生产的效率和可靠性。为促进我国工业外骨骼在汽车装配、电力维修、矿山施工等工业场景中更好地协助工人进行安全生产,总结了国内外工业外骨骼的研究进展,根据人所承担的工作不同将外骨骼划分为用于姿态保持的工业外骨骼和用于负载抬举的工业外骨骼,并围绕工业外骨骼的定制设计、考虑人因的外骨骼控制系统设计、人机信任关系、工业外骨骼信息感知、人机交互以及工业外骨骼变刚度驱动6个方面分析实现以人为本的安全生产关键技术,在此基础上对工业外骨骼实现安全生产的技术发展趋势进行了总结和展望。Human-centric is one of the important features of Industry 5.0,and realizing human-centric safety production is the basic requirement of human-centric smart manufacturing under the background of Industry 5.0.There are still some scenarios in industrial production that cannot be separated from people′s fine operation and intelligent decision-making.In these scenarios,realizing human-centric safe production can protect workers′safety and improve production efficiency.Industrial exoskeletons can help workers reduce physical burdens and risks,and improve the efficiency and reliability of safe production.To promote our country′s industrial exoskeletons to better assist workers in safe production in industrial scenarios such as automobile assembly,power maintenance,and mine construction,the research progress of industrial exoskeletons at home and abroad was summarized,and exoskeletons were divided into industrial exoskeleton for posture maintenance and industrial exoskeleton for load lifting,and focus on six aspects:custom design of industrial exoskeleton,design of exoskeleton control system considering human factors,human-robot trust relationship,industrial exoskeleton information perception,human-robot interaction and variable stiffness drive modes.The key technology for realizing human-centric safe production was analyzed,and the technical development trend of industrial exoskeleton for safe production was summarized and forecasted.

关 键 词：工业5.0 人本智造 安全生产 工业外骨骼 人机交互 

分 类 号：TH69[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]