A review of exoskeleton-type systems and their key technologies

作者：Yang C J; Zhang J F^*; Chen Y; Dong Y M; Zhang Y

来源：Proceedings of the Institution of Mechanical Engineers - Part C: Journal of Mechanical Engineering Science , 2008, 222(8): 1599-1612.

DOI：10.1243/09544062JMES936

• exoskeleton-type system
• man-machine intelligent system
• review
• key technology

The exoskeleton-type system is a brand new type of man-machine intelligent system. It fully combines human intelligence and machine power so that machine intelligence and human operator's power are both enhanced. Therefore, it achieves a high-level performance that neither could separately. This paper describes the basic exoskeleton concepts from biological system to man-machine intelligent systems. It is followed by an overview of the development history of exoskeleton-type systems and their two main applications in teleoperation and human power augmentation. Besides the key technologies in exoskeleton-type systems, the research is presented from several viewpoints of the biomechanical design, system structure modelling, cooperation and function allocation, control strategy, and safety evaluation.

• 出版日期2008-8
• 单位浙江大学