外骨骼机器人的研究发展

··20134344ChineseMedicalEquipmentJournal·Vol．34·No．4·April·20131，2，2，2，2，2，2，2（1.5105152.300161[]，，。、、，，。[]；；[]R318.6[]A[]1003-8868（2013）04-081-04DOI：10.7687/J.ISSN1003-8868.2013.04.081DevelopmentofExoskeletonRobotStudyCHAIHu1,2,SHICai-hong2,WANGHe-yan2,ZHANGKun-liang2,YANGKang-jian2,ZHAORun-zhou2,ZHANGXi-zheng2(1.SchoolofBiomedicalEngineering,SouthernmedicalUniversity,Guangzhou510515,China;2.InstituteofMedicalEquipment,AcademyofMilitaryMedicalScience,Tianjin300161,China）AbstractTheconceptandclassificationoftheexoskeletonrobotareintroducedinbrief,alongwithitsprogress,prospectiveandrepresentatives.Thepersonatedmechanicalstructuredesign,drivingsystemselection,energysourcesandcontrolsystemprincipleoftheexoskeletonrobotarediscussed,whoseadvantages,disadvantagesandprospectivearealsoexplored.[ChineseMedicalEquipmentJournal，2013，34（4）：81-84]Keywordsexoskeleton;robot;human-machinecooperation：（1986—），，，，E-mail：[e-mail]。，E-mail：[e-mail]0exoskeletonexoskeletonrobot。、、、、、[1]。1。、、。2[2]、、。、、。1.1、、、、。2060Hardiman1。、、。2090、、。201HardimanGeneralReview····20134344ChineseMedicalEquipmentJournal·Vol．34·No．4·April·20132、10[3]。SARCOS、EXOS、、、、、3。3a3b、、/[4]。1.2、、。、、。2000defenseadvancedresearchprojectsagencyDARPAHEL、SARCOS、ORNLMillenniumJet。2004BerkeleylowerextremityexoskeletonBLEEX4DARPAEHPA。BLEEX、、2。45kg35kg[4-6]。BLEXX·HULC5BLEXXHULC2。HULC30s[7-8]。。、。。zeromomentpointZMP[9]。1.32008SteveJacobsenXOS-16。。XOS-1200lb1lb=0.4536kg50~500。40min。2010XOS-26、、50%。XOS-2、、。200lb3in1in=2.54cm。、、[10]。hybridassistivelegHAL2b3a4BLEEX5HULCGeneralReview····20134344ChineseMedicalEquipmentJournal·Vol．34·No．4·April·2013HAL-57。21kg40kg100kg、。HAL、[11-13]。powerassistauitPAS8。PAS0.5~1[14]。1.4、、。。、[15]。、、、、、、。[15][16][17][18]。22.1、。、“”、、。12、、3、、、、。2.2、。、、3。2.2.1。、、、。、、。BLEEXXOS。2.2.2。、、、、。powerassistsuitPAS0.5～l.0。2.2.3。、、、、、、。HAL。2.36RaytheonSarcosXOS-1XOS-27HAL-58PASGeneralReview····20134344ChineseMedicalEquipmentJournal·Vol．34·No．4·April·2013、。2.4、9。[19]。1、HAL2、、BLEXXXOS。[20]。41、234。、、、。。[][1]AaronMDollarHughHerr.LowerExtremityExoskeletonsandActiveOrthosesChallengesandState-of-the-Art[J].IEEETrans－actionsonRobotics2008241144-158.[2]YangCJZhangJFChenYetal.Areviewofexoskeleton-typesystemsandtheirkeytechnologies[J].MechanicalEngineeringSci－ence200822281599-1612.[3]KazerooniH.Humanaugmentationandexoskeletonsystemsinberkeley[J].InternationalJournalofHumanoidRobotics200743575-605.[4]KazerooniHStegerRLiHH.HybridControloftheBerkeleyLowerExtremityExoskeletonBLEEX[J].TheInternationalJournalofRoboticsResearch2006255561-573.[5]ChuA.DesignoftheBerkeleyLowerExtremityExoskeletonBLE－EX[D].BerkeleyUniversityofCalifornnia200516-32.[6]KazuoKatubeddaKiguchiKetal.MechanicalDesignsofActiveUpper-LimbExoskeletonRobotsState-of-the-ArtandDesignDiffi－culties[C].ProceedingsofIEEE11thInternationalConferenceonRehabilitationRobotics.JapanKyotoInternationalConferenceCe-nter2009178-187.[7].[J].201189-10.[8].[J].2009628-32.[9]LiuXPLowKH.DevelopmentandPreliminaryStudyoftheNTULowerExtremityExoskeleton[C].ProceedingsofIEEEConferenceonCyberneticsandIntelligentSystems.SingaporeCyberneticsandIntelligentSystems200421243-1247.[10]HaydenKevinCudby.RexTheRoboticExoskeleton[EB/OL].2012-02-09[2012-03-02].http//technology.tki.org.nz/Resour-ces/Case-studies/Technologists-practice-case-studies/Electronics-and-control-technologies/Rex-the-robotic-exoskeleton.[11]SakuraiTSankaiYetal.Developmentofmotioninstructionsys－temwithinteractiverobotsuitHAL[C].ProceedingsofIEEEInter－nationalConferenceonRoboticsandBiomimeticsJapanRoboticsandBiomimeticsROBIO20091141-1147．[12]YoshiyukiSankai.WearingTypeBehaviorHelpDeviceCalibrationDeviceandControlProgarmUSA2011000432Al[P].2011-01-06.[13]YoshiyukiSankai.CentroidPositionDetectorDeviceandWearingTypeActionAssistanceDeviceIncludingCentroidPositionDetectorDeviceUSA20100271051A1[P].2010-10-28.[14]YamamotoKIshiiMNoborisakaHetal.Standalonewearablepowerassistingsuit-sensingandcontrolsystems[C]//Proceedingsof13thIEEEInternationalWorkshop.RomanRobotHumanInterac－tiveCommunication2004661-666.[15].[M].201111-20.[16].[D].201212-22.[17].[J].20065131-133.[18].NAEIES[J].200722(4)467-470.[19]SheridanTB.HumanandAutomationSystemDesignandResearchIssues[M].NewYorkJohnWiley200218-26.[20].[J]2009245520-526.2012-03-072012-03-269GeneralReview··