A Systematic Review on Rigid Exoskeleton Robot Design for Wearing Comfort: Joint Self-Alignment, Attachment Interface, and Structure Customization

IF 4.8 2区医学 Q2 ENGINEERING, BIOMEDICAL

IEEE Transactions on Neural Systems and Rehabilitation Engineering Pub Date : 2024-10-14 DOI:10.1109/TNSRE.2024.3479283

Longbao Chen;Ding Zhou;Yuquan Leng

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引用次数: 0

Abstract

Exoskeleton robots enable individuals with impaired physical functions to perform daily activities and maintain independence. However, the discomfort experienced by users when using these devices may limit the application scope of exoskeleton robots. Therefore, this paper systematically defines and analyzes the key design factors affecting the wearing comfort of rigid exoskeleton robots by differentiating and discussing the characteristics of traditional exoskeleton robots and exoskeleton robots equipped with the self-alignment mechanism based on addressing misalignment issues. Furthermore, the various structural configurations of the Physical Human-Robot Attachment Interface (PHRAI) and related quantitative evaluation indicators are explored in depth, and the advantages and limitations of structural customized design methods combining parametric design, Three-Dimensional (3D) scanning, and 3D printing technology are evaluated. Finally, the current concerns in the research field and potential solution strategies are proposed, aiming to provide directional guidance to optimize future exoskeleton robots. The research findings are of significant value for enhancing the comfort of wearing exoskeleton robots and provide valuable theoretical and practical references for future research.

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关于穿着舒适的刚性外骨骼机器人设计的系统综述：关节自对准、附着界面和结构定制。

外骨骼机器人使身体功能受损的人能够进行日常活动并保持独立。然而，用户在使用这些设备时所体验到的不适感可能会限制外骨骼机器人的应用范围。因此，本文系统地定义和分析了影响刚性外骨骼机器人穿着舒适度的关键设计因素，区分并讨论了传统外骨骼机器人和配备自对准机制的外骨骼机器人的特点，并在此基础上解决了错位问题。此外，还深入探讨了物理人机附着界面（PHRAI）的各种结构配置和相关量化评价指标，并评价了结合参数化设计、三维扫描和三维打印技术的结构定制设计方法的优势和局限性。最后，提出了当前研究领域的关注点和潜在的解决策略，旨在为优化未来的外骨骼机器人提供方向性指导。研究成果对提高外骨骼机器人的穿着舒适度具有重要价值，并为未来研究提供了宝贵的理论和实践参考。

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

IEEE Transactions on Neural Systems and Rehabilitation Engineering 医学-工程：生物医学

CiteScore

8.60

自引率

8.20%

发文量

479

审稿时长

6-12 weeks

期刊介绍： Rehabilitative and neural aspects of biomedical engineering, including functional electrical stimulation, acoustic dynamics, human performance measurement and analysis, nerve stimulation, electromyography, motor control and stimulation; and hardware and software applications for rehabilitation engineering and assistive devices.