A review of the design of load-carrying exoskeletons

作     者：LIANG JieJunYi ZHANG QinHao LIU Yang WANG Tao WAN GuangFu 

作者机构：State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2022年第65卷第9期

页      面：2051-2067页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：supported by the National Key R&D Program of China(Grant No.2020YFC2007800) the National Natural Science Foundation of China(Grant Nos.52005191 and 52027806) 

主　　题：load carrying lower limb exoskeleton joint torque load transfer load-suspended backpack 

摘      要：The increasing necessity of load-carrying activities has led to greater human musculoskeletal damage and an increased metabolic *** the rise of exoskeleton technology,researchers have begun exploring different approaches to developing wearable robots to augment human load-carrying ***,there is a lack of systematic discussion on biomechanics,mechanical designs,and augmentation *** achieve this,extensive studies have been reviewed and 108 references are selected mainly from 2013 to 2022 to address the most recent *** earlier 20 studies are selected to present the origin of different design *** terms of the way to achieve load-carrying augmentation,the exoskeletons reviewed in this paper are sorted by four categories based on the design principles,namely load-suspended backpacks,lower-limb exoskeletons providing joint torques,exoskeletons transferring load to the ground and exoskeletons transferring load between body ***,the driving modes of active and passive,the structure of rigid and flexible,the conflict between assistive performance and the mass penalty of the exoskeleton,and the autonomy are discussed in detail in each section to illustrate the advances,challenges,and future trends of exoskeletons designed to carry loads.