Wearable upper limb robotics for pervasive health: a review
Wearable upper limb robotics for pervasive health: a review
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DOI：
10.1088/2516-1091/acc70a
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发表时间：
2023-03
期刊：
影响因子：
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通讯作者：
Chukwuemeka Ochieze;Soroush Zare;Ye Sun
中科院分区：
文献类型：
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作者：
Chukwuemeka Ochieze;Soroush Zare;Ye Sun
可穿戴机器人，也称为外骨骼，几十年来一直致力于以人为中心的援助。它们提供了辅助技术，以维持和提高患者实现自我独立的自然能力，并为实现普遍健康的康复提供了新的治疗解决方案。上肢外骨骼可以显著增强人类对环境的操纵，这对患者的独立性、自尊和生活质量至关重要。对于在医院和家庭环境中的长期使用，仍然需要具有高舒适性、生物相容性和可操作性的新技术。软机器人技术的最新进展已经启动了软外骨骼（也称为外骨骼服），其基于可控和顺应性材料和结构。从机器人设计到不同的实际应用，刚性外骨骼已经进行了显着的文献综述。由于新兴的状态，很少有人关注柔软的上肢外骨骼。本文旨在提供一个可穿戴上肢机器人的最新进展，包括刚性和软外骨骼，重点是他们的设计和应用在各种普遍的医疗环境中的系统性审查。可穿戴机器人的技术需求进行了仔细审查，并特别讨论了可穿戴机器人技术可以增强的援助和康复。来自刚性可穿戴机器人的知识可以为软外骨骼设计提供实践经验并激发新的想法。我们还讨论了可穿戴辅助机器人在普及健康方面的挑战和机遇。
Wearable robotics, also called exoskeletons, have been engineered for human-centered assistance for decades. They provide assistive technologies for maintaining and improving patients’ natural capabilities towards self-independence and also enable new therapy solutions for rehabilitation towards pervasive health. Upper limb exoskeletons can significantly enhance human manipulation with environments, which is crucial to patients’ independence, self-esteem, and quality of life. For long-term use in both in-hospital and at-home settings, there are still needs for new technologies with high comfort, biocompatibility, and operability. The recent progress in soft robotics has initiated soft exoskeletons (also called exosuits), which are based on controllable and compliant materials and structures. Remarkable literature reviews have been performed for rigid exoskeletons ranging from robot design to different practical applications. Due to the emerging state, few have been focused on soft upper limb exoskeletons. This paper aims to provide a systematic review of the recent progress in wearable upper limb robotics including both rigid and soft exoskeletons with a focus on their designs and applications in various pervasive healthcare settings. The technical needs for wearable robots are carefully reviewed and the assistance and rehabilitation that can be enhanced by wearable robotics are particularly discussed. The knowledge from rigid wearable robots may provide practical experience and inspire new ideas for soft exoskeleton designs. We also discuss the challenges and opportunities of wearable assistive robotics for pervasive health.