A Survey of Current Exoskeletons and Their Control Architectures and Algorithms ( Draft 4 . 0 )
A Survey of Current Exoskeletons and Their Control Architectures and Algorithms ( Draft 4 . 0 )
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当前外骨骼及其控制架构和算法的调查（草案 4 . 0 ）
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
M. Travers
中科院分区：
文献类型：
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作者：
Alex Ansari;C. Atkeson;H. Choset;M. Travers
在最简单的情况下，在机器人系统周围的环境保持相对固定的情况下，控制机器人与环境之间的动态交互以实现特定的物理目标是困难的。在操作者有效地穿戴机器人的情况下，即，机器人外骨骼，并希望通过未知的和动态演变的环境中移动，情况变得非常复杂;机器人系统需要考虑多个基本上链接的系统的动态，这些系统在大多数情况下难以建模。本文档的目标是提供关于机器人外骨骼的设计、建模和控制的文献调查，并强调我们认为是当前最有前途的几种方法，以实现操作员、外骨骼和环境之间动态而安全的交互这一复杂目标。在信息可用的情况下，我们总结了与致动，电力存储和发电，传感器类型和分布，机械架构，以及一些不同的外骨骼硬件系统的控制系统设计相关的具体贡献。作为本报告的一部分，我们就我们认为有用的组成部分以及当前系统和控制方法中可能存在的问题提出了建议。
In the simplest case, where the environment around a robotic system remains relatively fixed, controlling the dynamic interaction between the robot and the environment to achieve a specific physical objective is difficult. In the case where an operator effectively wears the robot, i.e., a robotic exoskeleton, and would like to move through unknown and dynamically evolving environments, the situation becomes very complicated; the robotic system needs to account for the dynamics of multiple fundamentally linked systems that are, for the most part, difficult to model. The goal of this document is to provide a survey of the literature on the design, modeling, and control of robotic exoskeletons and to highlight what we believe are several of the most promising currently existing approaches to the complicated goal of enabling dynamic yet safe interaction between operators, exoskeletons, and the environment. Where information was available, we summarize specific contributions related to actuation, power storage and generation, sensor type and distribution, mechanical architecture, as well as control system design for a number of different exoskeleton hardware systems. Included as part of this report are recommendations on what we see as helpful components as well as potentially problematic issues in current systems and control approaches.