Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks. To accommodate this insufficiency, different aspects of this technology need to be analysed and improved. Numerous studies have been trying to address some aspects of exoskeletons, e.g. mechanism design, intent prediction, and control scheme. However, most works have focused on a specific element of design or application without providing a comprehensive review framework. This study aims to analyse and survey the contributing aspects to the improvement and broad adoption of this technology. To address this, after introducing assistive devices and exoskeletons, the main design criteria will be investigated from a physical Human-Robot Interface (HRI) perspective. The study will be further developed by outlining several examples of known assistive devices in different categories. In order to establish an intelligent HRI strategy and enabling intuitive control for users, cognitive HRI will be investigated. Various approaches to this strategy will be reviewed, and a model for intent prediction will be proposed. This model is utilised to predict the gate phase from a single Electromyography (EMG) channel input. The outcomes of modelling show the potential use of single-channel input in low-power assistive devices. Furthermore, the proposed model can provide redundancy in devices with a complex control strategy.
翻译:Exoskeletons 和 efforable exoskeletons 和 emproducts 是向用户提供机械效益的可磨损的移动系统。尽管在过去几十年里有了重大改进,但这一技术并不完全成熟,无法用于艰巨和非编程的任务。为了适应这种不足,需要分析和改进这一技术的不同方面。许多研究都试图解决Exoskeletons 的某些方面,例如机制设计、意图预测和控制计划。然而,大多数工作的重点是设计或应用的具体内容,而没有提供全面审查框架。本研究的目的是分析和调查改进和广泛采用这一技术的促进方面。本研究的目的是为了解决这个问题,在引进辅助装置和外编程后,将从人体-机器人接口(HRI)的角度对主要设计标准进行调查。这项研究将通过概述不同类别的已知辅助装置的若干实例进一步展开。为了建立智能的HRI战略,并使用户能够进行直觉控制,将调查这一战略的各种方法,并将提出一个意向预测模型。为了解决这个问题,在采用辅助装置后,将使用一个磁带系统输入器的单个输入系统,将用来预测一个单一电路段的系统,从而提供单一输入装置。