A review of soft wearable robots that provide active assistance: Trends, common actuation methods, fabrication, and applications
A review of soft wearable robots that provide active assistance: Trends, common actuation methods, fabrication, and applications
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DOI：
10.1017/wtc.2020.4
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发表时间：
2020-09
影响因子：
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通讯作者：
Carly M. Thalman;P. Artemiadis
中科院分区：
文献类型：
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作者：
Carly M. Thalman;P. Artemiadis
摘要本文综述了软可穿戴机器人（SWRs）领域中先前发表的研究成果，并对这些成果进行了荟萃分析，这些研究成果为辅助和增强目的提供了主动驱动方法。对驻波比领域的主要贡献进行了深入调查，以分析该领域的趋势，重点是流体和电缆驱动系统，流行和成功的方法，并确定驻波比和主动驱动策略的未来方向。概述了可穿戴设备中使用的软致动器的类型，以及软致动器的制造方法的一般实践和服装类机器人的人机界面设计的考虑因素。众所周知的和新兴的上半身（UB）和下半身（LB）辅助技术的概述是由特定的关节和自由度（DoF）辅助和致动器的方法来分类。解决了不同的使用情况下，软件，以及实施策略和设计应用程序。
Abstract This review meta-analysis combines and compares the findings of previously published works in the field of soft wearable robots (SWRs) that provide active methods of actuation for assistive and augmentative purposes. A thorough investigation of major contributions in the field of an SWR is made to analyze trends in the field focused on fluidic and cable-driven systems, prevalent and successful approaches, and identify the future direction of SWRs and active actuation strategies. Types of soft actuators used in wearables are outlined, as well as general practices for fabrication methods of soft actuators and considerations for human–robot interface designs of garment-like exosuits. An overview of well-known and emerging upper body (UB)- and lower body (LB)-assistive technologies is categorized by the specific joints and degree of freedom (DoF) assisted and which actuator methodology is provided. Different use cases for SWRs are addressed, as well as implementation strategies and design applications.