A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

IF 2.9 Q2 ROBOTICS

Robotics Pub Date : 2023-09-20 DOI:10.3390/robotics12050131

Victoria E. Abarca, Dante A. Elias

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Abstract

This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots.

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综述平行机器人:康复、辅助和类人机器人在颈、肩、腕、髋和踝关节的应用

这篇综述文章介绍了在康复、辅助技术和类人机器人领域的研究和发展的深入检查。它的重点是为人体关节设计的三自由度并联机器人，即颈部、肩部、手腕、臀部和脚踝。系统检索了多个数据库，包括Scopus、Web of Science、PubMed、IEEE Xplore、ScienceDirect、Open Access Journals Directory和ASME Journal。本系统综述提供了2012年至2023年该领域进展的最新概述。应用排除标准后，选择93篇论文进行深入审查。该队列包括13篇关于颈部关节的文章，19篇关于肩关节的文章，22篇关于腕关节的文章，9篇关于髋关节的文章，30篇关于踝关节的文章。本文讨论了并联机器人的时间线和进展，涵盖了技术准备水平(trl)、设计、自由度数量、运动学结构、工作空间评估、功能能力、性能评估方法和并联机器人开发的材料选择。它还探讨了关键的技术挑战和未来的前景在康复，援助和人形机器人。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics Mathematics-Control and Optimization

CiteScore

6.70

自引率

8.10%

发文量

114

审稿时长

11 weeks

期刊介绍： Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM