Soft Exoskeletons: Development, Requirements, and Challenges of the Last Decade

被引：71

作者：

Perez Vidal, Alan Francisco ^{[1
]}

Rumbo Morales, Jesse Yoe ^{[1
]}

Ortiz Torres, Gerardo ^{[1
]}

Sorcia Vazquez, Felipe de Jesus ^{[1
]}

Cruz Rojas, Alan ^{[1
]}

Brizuela Mendoza, Jorge Aurelio ^{[2
]}

Rodriguez Cerda, Julio Cesar ^{[1
]}

机构：

[1] Univ Guadalajara, Ctr Univ Valles, Dept Ciencias Computac & Ingn, Carretera Guadalajara Ameca Km 45-5, Ameca 46600, Mexico

[2] Univ Guadalajara, Dept Ciencias Exactas & Metodol, Ctr Univ Sur, Av Enrique Arreola Silva 883, Ciudad Guzman 49000, Mexico

来源：

ACTUATORS | 2021年 / 10卷 / 07期

关键词：

soft exoskeleton; rehabilitation therapy; robotic enhancer; daily assistance; human-machine interface; HAND EXOSKELETON; ROBUST-CONTROL; DESIGN; ASSISTANCE; ACTUATOR; EXOSUIT; OPTIMIZATION; WALKING; JOINT; POWER;

D O I：

10.3390/act10070166

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this article, various investigations on soft exoskeletons are presented and their functional and structural characteristics are analyzed. The present work is oriented to the studies of the last decade and covers the upper and lower joints, specifically the shoulder, elbow, wrist, hand, hip, knee, and ankle. Its functionality, applicability, and main characteristics are exposed, such as degrees of freedom, force, actuators, power transmission methods, control systems, and sensors. The purpose of this work is to show the current trend in the development of soft exoskeletons, in addition to specifying the essential characteristics that must be considered in its design and the challenges that its construction implies.

引用

页数：26

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