可穿戴腰椎外骨骼研究现状及关键技术分析

Research Status and Key Technology Analysis of Wearable Lumbar Spine Exoskeleton

  • 摘要: 有效支持手工搬运(manual material handling,MMH)工作中劳动者降低职业性肌肉骨骼疾病(Work-related MusculoSkeletal Disorders,WMSDs),尤其是下背痛(low back pain,LBP)的风险,是外骨骼助力技术的一个重要应用方向。本文系统地梳理了动力型、无动力型和准被动型三类腰椎助力外骨骼的研究现状与关键技术。通过对机械结构、驱动方式、人机交互及舒适性等方面的分析,揭示了各类型外骨骼的设计特点及应用适配性。结果表明,动力型外骨骼在助力性能和人机协调性方面表现优越;无动力型外骨骼以轻便性为优势,适用于短时低负荷任务;准被动型外骨骼通过结合能量回收机制,实现了适度助力与节能的平衡。本文明确了当前研究中存在的助力性能优化、人机交互适配性提升等关键问题,提出了基于智能材料与先进控制策略的设计建议,确定并讨论了目前研究中存在的问题和发展前景,为未来腰椎助力外骨骼的研发提供了理论基础与实践指导。

     

    Abstract: To effectively support workers engaged in manual material handling (MMH) tasks and reduce the risk of work-related musculoskeletal disorders (WMSDs), particularly low back pain (LBP), we systematically review the research status and key technologies of three types of lumbar assist exoskeletons: powered, unpowered, and quasi-passive. We identify each exoskeleton type's design characteristics and application suitability by analyzing mechanical structure, drive mechanisms, human-computer interaction, and comfort. The findings indicate that powered exoskeletons excel in assistance performance and human-machine coordination, unpowered exoskeletons offer a lightweight design suitable for short-term, low-load tasks, and quasi-passive exoskeletons strike a balance between moderate assistance and energy efficiency through energy recovery mechanisms. We highlight critical challenges in optimizing assistance performance and enhancing adaptability to human-machine interaction. Additionally, we propose design recommendations based on intelligent materials and advanced control strategies, providing both a theoretical foundation and practical guidance for the future development of lumbar assist exoskeletons.

     

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