Developments in hardware systems of active upper-limb exoskeleton robots: A review

被引:338
作者
Gopura, R. A. R. C. [1 ]
Bandara, D. S. V. [1 ]
Kiguchi, Kazuo [2 ]
Mann, G. K. I. [3 ]
机构
[1] Univ Moratuwa, Dept Mech Engn, Katubedda, Sri Lanka
[2] Kyushu Univ, Fac Engn, Dept Mech Engn, Fukuoka 812, Japan
[3] Mem Univ Newfoundland, Fac Engn & Appl Sci, St John, NF, Canada
关键词
Exoskeleton robot; Upper-limb; Power-assist robot; Rehabilitation; ARM EXOSKELETON; REHABILITATION ROBOTICS; MUSCLE SUIT; DESIGN; WRIST; KINEMATICS; THERAPY; SUPPORT; DRIVEN; DEVICE;
D O I
10.1016/j.robot.2015.10.001
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The very first application of active exoskeleton robot was to provide external power to a soldier so that he can carry additional weight than his strength. Since then this technology has focused on developing systems for assisting and augmenting human power. Later this technology is expanded into other applications such as limb rehabilitation and tele-operations. Exoskeleton research is still a growing area and demands multi-disciplinary approaches in solving complex technical issues. In this paper, the developments of active upper-limb exoskeleton robots are reviewed. This paper presents the major developments occurred in the history, the key milestones during the evolution and major research challenges in the present day context of hardware systems of upper-limb exoskeleton robots. Moreover, the paper provides a classification, a comparison and a design overview of mechanisms, actuation and power transmission of most of the upper-limb exoskeleton robots that have been found in the literature. A brief review on the control methods of upper-limb exoskeleton robots is also presented. At the end, a discussion on the future directions of the upper-limb exoskeleton robots was included. (C) 2015 Elsevier B.V. All rights reserved.
引用
收藏
页码:203 / 220
页数:18
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