• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

一款带有符合人体工程学加固手套的用于屈曲运动的辅助性柔性手腕外骨骼套装。

An Assistive Soft Wrist Exosuit for Flexion Movements With an Ergonomic Reinforced Glove.

作者信息

Chiaradia Domenico, Tiseni Luca, Xiloyannis Michele, Solazzi Massimiliano, Masia Lorenzo, Frisoli Antonio

机构信息

Percro Laboratory, Tecip Institute, Sant'Anna School of Advanced Studies, Pisa, Italy.

Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Switzerland and the Spinal Cord Injury Center, University Hospital Balgrist, Zurich, Switzerland.

出版信息

Front Robot AI. 2021 Jan 18;7:595862. doi: 10.3389/frobt.2020.595862. eCollection 2020.

DOI:10.3389/frobt.2020.595862
PMID:33537345
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7848217/
Abstract

Soft exosuits are a promising solution for the assistance and augmentation of human motor abilities in the industrial field, where the use of more symbiotic wearable robots can avoid excessive worker fatigue and improve the quality of the work. One of the challenges in the design of soft exosuits is the choice of the right amount of softness to balance load transfer, ergonomics, and weight. This article presents a cable-driven based soft wrist exosuit for flexion assistance with the use of an ergonomic reinforced glove. The flexible and highly compliant three-dimensional (3D)-printed plastic structure that is sewn on the glove allows an optimal force transfer from the remotely located motor to the wrist articulation and to preserve a high level of comfort for the user during assistance. The device is shown to reduce fatigue and the muscular effort required for holding and lifting loads in healthy subjects for weights up to 3 kg.

摘要

软外骨骼是工业领域辅助和增强人类运动能力的一种很有前景的解决方案，在该领域使用更具共生性的可穿戴机器人可以避免工人过度疲劳并提高工作质量。软外骨骼设计中的挑战之一是选择合适的柔软度，以平衡负载传递、人体工程学和重量。本文介绍了一种基于缆绳驱动的软腕外骨骼，它通过使用符合人体工程学的加固手套来辅助手腕弯曲。缝在手套上的柔性且高度柔顺的三维（3D）打印塑料结构，能够实现从远程电机到手腕关节的最佳力传递，并在辅助过程中为用户保持高度的舒适度。结果表明，该设备可减轻健康受试者在握持和提起重达3千克的重物时的疲劳和肌肉用力。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/853b5bae0600/frobt-07-595862-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/df63d7208baf/frobt-07-595862-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/00b2f9acf6c3/frobt-07-595862-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/1b21bc8aa4ff/frobt-07-595862-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/a05716be0cd9/frobt-07-595862-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/4359efab61af/frobt-07-595862-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/21a0cb34f49f/frobt-07-595862-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/d47a06571170/frobt-07-595862-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/3002cd288a47/frobt-07-595862-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/ad17c3fb848f/frobt-07-595862-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/853b5bae0600/frobt-07-595862-g0010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/df63d7208baf/frobt-07-595862-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/00b2f9acf6c3/frobt-07-595862-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/1b21bc8aa4ff/frobt-07-595862-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/a05716be0cd9/frobt-07-595862-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/4359efab61af/frobt-07-595862-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/21a0cb34f49f/frobt-07-595862-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/d47a06571170/frobt-07-595862-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/3002cd288a47/frobt-07-595862-g0008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/ad17c3fb848f/frobt-07-595862-g0009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8340/7848217/853b5bae0600/frobt-07-595862-g0010.jpg

相似文献

1
An Assistive Soft Wrist Exosuit for Flexion Movements With an Ergonomic Reinforced Glove.一款带有符合人体工程学加固手套的用于屈曲运动的辅助性柔性手腕外骨骼套装。
Front Robot AI. 2021 Jan 18;7:595862. doi: 10.3389/frobt.2020.595862. eCollection 2020.
2
Physiological and kinematic effects of a soft exosuit on arm movements.软体外骨骼对手臂运动的生理和运动学影响。
J Neuroeng Rehabil. 2019 Feb 22;16(1):29. doi: 10.1186/s12984-019-0495-y.
3
Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit.在步行辅助、缆索驱动外骨骼的驱动中进行力和转矩特性分析。
Sensors (Basel). 2022 Jun 6;22(11):4309. doi: 10.3390/s22114309.
4
Physical interface dynamics alter how robotic exosuits augment human movement: implications for optimizing wearable assistive devices.物理接口动力学改变了机器人外骨骼增强人类运动的方式：对优化可穿戴辅助设备的启示。
J Neuroeng Rehabil. 2017 May 18;14(1):40. doi: 10.1186/s12984-017-0247-9.
5
Relationship Between Muscular Activity and Assistance Magnitude for a Myoelectric Model Based Controlled Exosuit.基于肌电模型控制的外骨骼中肌肉活动与辅助量之间的关系
Front Robot AI. 2020 Dec 17;7:595844. doi: 10.3389/frobt.2020.595844. eCollection 2020.
6
A Novel Lightweight Wearable Soft Exosuit for Reducing the Metabolic Rate and Muscle Fatigue.一种新型轻便可穿戴软外骨骼，用于降低代谢率和肌肉疲劳。
Biosensors (Basel). 2021 Jun 30;11(7):215. doi: 10.3390/bios11070215.
7
IMU-based assistance modulation in upper limb soft wearable exosuits.基于惯性测量单元的上肢柔性可穿戴外骨骼助力调节
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:1197-1202. doi: 10.1109/ICORR.2019.8779362.
8
Quasi-passive lower limbs exosuit: an in-depth assessment of fatigue, kinematic and muscular patterns while comparing assistive strategies on an expert subject's gait analysis.准被动式下肢外骨骼：在对一名专家受试者的步态分析中比较辅助策略时，对疲劳、运动学和肌肉模式的深入评估。
Front Neurorobot. 2023 May 11;17:1127694. doi: 10.3389/fnbot.2023.1127694. eCollection 2023.
9
Neuro-cognitive assessment of intentional control methods for a soft elbow exosuit using error-related potentials.利用错误相关电位对软肘外骨骼的自主控制方法进行神经认知评估。
J Neuroeng Rehabil. 2022 Nov 11;19(1):124. doi: 10.1186/s12984-022-01098-0.
10
User-Centered Configuration of Soft Hip Flexion Exosuit Designs to Assist Individuals with Multiple Sclerosis Through Simulated Human-in-the-Loop Optimization.以用户为中心的软式髋关节屈伸助力外骨骼设计配置，通过模拟人在环优化来帮助多发性硬化症患者。
IEEE Int Conf Rehabil Robot. 2023 Sep;2023:1-6. doi: 10.1109/ICORR58425.2023.10304731.

引用本文的文献

1
Fabrication of Soft Robotics by Additive Manufacturing: From Materials to Applications.增材制造在软体机器人制造中的应用：从材料到应用
Chem Rev. 2025 Aug 27;125(16):7275-7320. doi: 10.1021/acs.chemrev.4c00749. Epub 2025 Aug 11.
2
Myoelectric Control in Rehabilitative and Assistive Soft Exoskeletons: A Comprehensive Review of Trends, Challenges, and Integration with Soft Robotic Devices.康复与辅助软外骨骼中的肌电控制：趋势、挑战及与软机器人设备集成的综合综述
Biomimetics (Basel). 2025 Apr 1;10(4):214. doi: 10.3390/biomimetics10040214.
3
A Novel Framework Based on Deep Learning Architecture for Continuous Human Activity Recognition with Inertial Sensors.

本文引用的文献

1
A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback.一种用于动觉触觉反馈的软性机器人可穿戴手腕装置。
Front Robot AI. 2018 Jul 24;5:83. doi: 10.3389/frobt.2018.00083. eCollection 2018.
2
Human arm weight compensation in rehabilitation robotics: efficacy of three distinct methods.人手臂重量补偿在康复机器人中的应用：三种不同方法的效果。
J Neuroeng Rehabil. 2020 Feb 5;17(1):13. doi: 10.1186/s12984-020-0644-3.
3
On the edge between soft and rigid: an assistive shoulder exoskeleton with hyper-redundant kinematics.介于柔软与刚性之间：一款具有超冗余运动学的辅助肩部外骨骼
基于深度学习架构的新型框架，用于使用惯性传感器进行连续的人体活动识别。
Sensors (Basel). 2024 Mar 29;24(7):2199. doi: 10.3390/s24072199.
4
Challenges and solutions for application and wider adoption of wearable robots.可穿戴机器人应用及更广泛采用面临的挑战与解决方案
Wearable Technol. 2021 Nov 21;2:e14. doi: 10.1017/wtc.2021.13. eCollection 2021.
5
A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics.关于影响可穿戴和软机器人用户采用因素的综述评论。
Sensors (Basel). 2023 Mar 20;23(6):3263. doi: 10.3390/s23063263.
6
Soft Wearable Robots: Development Status and Technical Challenges.软可穿戴机器人：发展现状与技术挑战。
Sensors (Basel). 2022 Oct 6;22(19):7584. doi: 10.3390/s22197584.
7
A Review of Exoskeletons Considering Nurses.考虑护士的外骨骼综述
Sensors (Basel). 2022 Sep 17;22(18):7035. doi: 10.3390/s22187035.
8
Development of Wrist Interface Based on Fully Actuated Coaxial Spherical Parallel Mechanism for Force Interaction.基于全驱动共轴球面并联机构的力交互手腕接口的开发。
Sensors (Basel). 2021 Dec 2;21(23):8073. doi: 10.3390/s21238073.
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:618-624. doi: 10.1109/ICORR.2019.8779546.
4
Physiological and kinematic effects of a soft exosuit on arm movements.软体外骨骼对手臂运动的生理和运动学影响。
J Neuroeng Rehabil. 2019 Feb 22;16(1):29. doi: 10.1186/s12984-019-0495-y.
5
Assessing the influence of a passive, upper extremity exoskeletal vest for tasks requiring arm elevation: Part I - "Expected" effects on discomfort, shoulder muscle activity, and work task performance.评估一种用于需要手臂抬高的任务的被动式上肢外骨骼背心的影响：第一部分——“预期”对不适感、肩部肌肉活动和工作任务绩效的影响。
Appl Ergon. 2018 Jul;70:315-322. doi: 10.1016/j.apergo.2018.02.025. Epub 2018 Mar 7.
6
A soft wearable robot for the shoulder: Design, characterization, and preliminary testing.一款用于肩部的柔性可穿戴机器人：设计、特性分析与初步测试。
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:1672-1678. doi: 10.1109/ICORR.2017.8009488.
7
The eWrist - A wearable wrist exoskeleton with sEMG-based force control for stroke rehabilitation.电子手腕——一种基于表面肌电图的力控制可穿戴手腕外骨骼，用于中风康复。
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:726-733. doi: 10.1109/ICORR.2017.8009334.
8
Design and characterization of the OpenWrist: A robotic wrist exoskeleton for coordinated hand-wrist rehabilitation.OpenWrist的设计与特性：一种用于协同手部-腕部康复的机器人腕部外骨骼
IEEE Int Conf Rehabil Robot. 2017 Jul;2017:720-725. doi: 10.1109/ICORR.2017.8009333.
9
Multi-Indenter Device for in Vivo Biomechanical Tissue Measurement.用于体内生物力学组织测量的多压头装置
IEEE Trans Neural Syst Rehabil Eng. 2017 May;25(5):426-435. doi: 10.1109/TNSRE.2016.2572168. Epub 2016 May 24.
10
Robot-aided assessment of wrist proprioception.机器人辅助的腕关节本体感觉评估
Front Hum Neurosci. 2015 Apr 14;9:198. doi: 10.3389/fnhum.2015.00198. eCollection 2015.