可穿戴腕式外骨骼的技术现状(第二部分):商业和研究设备回顾

IF 2.1 3区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Machines Pub Date : 2023-12-29 DOI:10.3390/machines12010021
Roberto Francesco Pitzalis, Daegeun Park, Darwin G. Caldwell, G. Berselli, J. Ortiz
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引用次数: 0

摘要

无论是日常活动还是工作中的手动搬运任务,都需要高度的灵活性和移动不同形状和大小物体的能力。然而,由于老化、残疾、超负荷或剧烈工作而导致的肌肉骨骼疾病会影响手部的自然能力,对工作和日常活动造成严重影响。为解决这一问题,研究人员一直在开发腕部外骨骼,并证明了其益处。本文是腕部外骨骼研究的第二部分,介绍并总结了用于康复、辅助和职业领域的可穿戴腕部外骨骼设备。本研究中考虑的外骨骼是那些处于原型设计阶段或已上市的外骨骼。这些装置可以通过缓解疼痛或减轻疲劳来支撑人体腕部,同时允许至少一个动作。它们中的大多数都被设计成主动式(80%),以实现更高的力/扭矩传输,而软式则是为了获得更好的运动顺应性、人体工程学和安全性(24 个装置中有 13 个,超过 50%)。电机和缆索传动(24 个装置中分别有 11 个和 9 个,占近 50%和 40%)因其简便性、可控性、安全性、功率重量比以及远程驱动的可能性而最为常见。作为传感技术,位置和力传感器被广泛应用于所有设备中(近 90%)。控制策略主要取决于应用领域:对于康复而言,CPM(控制被动运动)更受青睐(35% 的设备),而对于辅助和职业用途而言,AAN(按需辅助)更合适(38% 的设备)。分析结果表明,在康复和训练领域,外骨骼的发展较为容易,并获得了一些用户的认可(近 18 种设备,其中 4 种已在市场上销售),但由于难以满足用户的认可和需求,为职业用途设计的设备相对较少(5 种,仅 2 种已在市场上销售)。从这一角度出发,通过对最新技术的分析,作者提出了一种用于职业辅助的便携式软腕外骨骼的概念构想。
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State of the Art in Wearable Wrist Exoskeletons Part II: A Review of Commercial and Research Devices
Manual handling tasks, both in daily activities and at work, require high dexterity and the ability to move objects of different shapes and sizes. However, musculoskeletal disorders that can arise due to aging, disabilities, overloading, or strenuous work can impact the natural capabilities of the hand with serious repercussions both in working and daily activities. To address this, researchers have been developing and proving the benefits of wrist exoskeletons. This paper, which is Part II of a study on wrist exoskeletons, presents and summarizes wearable wrist exoskeleton devices intended for use in rehabilitation, assistance, and occupational fields. Exoskeletons considered within the study are those available either in a prototyping phase or on the market. These devices can support the human wrist by relieving pain or mitigating fatigue while allowing for at least one movement. Most of them have been designed to be active (80%) for higher force/torque transmission, and soft for better kinematic compliance, ergonomics, and safety (13 devices out of 24, more than 50%). Electric motors and cable transmission (respectively 11 and 9 devices, out of 24, i.e., almost 50% and 40%) are the most common due to their simplicity, controllability, safety, power-to-weight ratio, and the possibility of remote actuation. As sensing technologies, position and force sensors are widely used in all devices (almost 90%). The control strategy depends mainly on the application domain: for rehabilitation, CPM (control passive motion) is preferred (35% of devices), while for assistance and occupational purposes, AAN (assistance-as-needed) is more suitable (38% of the devices). What emerges from this analysis is that, while rehabilitation and training are fields in which exoskeletons have grown more easily and gained some user acceptance (almost 18 devices, of which 4 are available on the market), relatively few devices have been designed for occupational purposes (5, with only 2 available on the market) due to difficulties in meeting the acceptance and needs of users. In this perspective, as a result of the state-of-the-art analysis, the authors propose a conceptual idea for a portable soft wrist exoskeleton for occupational assistance.
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来源期刊
Machines
Machines Multiple-
CiteScore
3.00
自引率
26.90%
发文量
1012
审稿时长
11 weeks
期刊介绍: Machines (ISSN 2075-1702) is an international, peer-reviewed journal on machinery and engineering. It publishes research articles, reviews, short communications and letters. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. Full experimental and/or methodical details must be provided. There are, in addition, unique features of this journal: *manuscripts regarding research proposals and research ideas will be particularly welcomed *electronic files or software regarding the full details of the calculation and experimental procedure - if unable to be published in a normal way - can be deposited as supplementary material Subject Areas: applications of automation, systems and control engineering, electronic engineering, mechanical engineering, computer engineering, mechatronics, robotics, industrial design, human-machine-interfaces, mechanical systems, machines and related components, machine vision, history of technology and industrial revolution, turbo machinery, machine diagnostics and prognostics (condition monitoring), machine design.
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