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用于预防与工作相关的肌肉骨骼疾病的可穿戴背部支撑外骨骼综述。

A Review of Wearable Back-Support Exoskeletons for Preventing Work-Related Musculoskeletal Disorders.

作者信息

Qu Yanping, Wang Xupeng, Tang Xinyao, Liu Xiaoyi, Hao Yuyang, Zhang Xinyi, Liu Hongyan, Cheng Xinran

机构信息

School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China.

Industrial Design Department, Xi'an University of Technology, Xi'an 710048, China.

出版信息

Biomimetics (Basel). 2025 May 20;10(5):337. doi: 10.3390/biomimetics10050337.

DOI:10.3390/biomimetics10050337
PMID:40422167
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12108747/
Abstract

Long-term manual material handling (MMH) work leads to the trend of the younger onset of work-related musculoskeletal disorders (WMSDs), with low back pain (LBP) being the most common, which causes great trouble for both society and patients. To effectively prevent LBP and provide support for workers engaged in MMH work, wearable lumbar assistive exoskeletons have played a key role in industrial scenarios. This paper divides wearable lumbar assistive exoskeletons into powered, unpowered, and quasi-passive types, systematically reviews the research status of each type of exoskeleton, and compares and discusses the key factors such as driving mode, mechanical structure, control strategy, performance evaluation, and human-machine interaction. It is found that many studies focus on the assistive performance, human-machine coupling coordination, and adaptability of wearable lumbar assistive exoskeletons. At the same time, the analysis results show that there are many types of performance evaluation indicators, but a unified and standardized evaluation method and system are still lacking. This paper analyzes current research findings, identifies existing issues, and provides recommendations for future research. This study provides a theoretical basis and design ideas for the development of wearable lumbar assistive exoskeleton systems.

摘要

长期的手工物料搬运（MMH）工作导致与工作相关的肌肉骨骼疾病（WMSD）发病年轻化的趋势，其中下背痛（LBP）最为常见，这给社会和患者都带来了极大困扰。为有效预防下背痛并为从事MMH工作的工人提供支持，可穿戴式腰部辅助外骨骼在工业场景中发挥了关键作用。本文将可穿戴式腰部辅助外骨骼分为动力型、无动力型和准被动型，系统综述了每种类型外骨骼的研究现状，并对驱动方式、机械结构、控制策略、性能评估和人机交互等关键因素进行了比较和讨论。研究发现，许多研究聚焦于可穿戴式腰部辅助外骨骼的辅助性能、人机耦合协调性和适应性。同时，分析结果表明性能评估指标类型众多，但仍缺乏统一、标准化的评估方法和体系。本文分析了当前的研究成果，识别了存在的问题，并为未来研究提供了建议。本研究为可穿戴式腰部辅助外骨骼系统的发展提供了理论基础和设计思路。

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Biomimetics (Basel). 2024 Oct 7;9(10):601. doi: 10.3390/biomimetics9100601.
2
Human-Exoskeleton Coupling Simulation for Lifting Tasks with Shoulder, Spine, and Knee-Joint Powered Exoskeletons.用于肩部、脊柱和膝关节动力外骨骼提升任务的人机耦合模拟
Biomimetics (Basel). 2024 Jul 25;9(8):454. doi: 10.3390/biomimetics9080454.
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Exoskeleton kinematic design robustness: An assessment method to account for human variability.
外骨骼运动学设计稳健性：一种考虑人体变异性的评估方法。
Wearable Technol. 2020 Nov 4;1:e7. doi: 10.1017/wtc.2020.7. eCollection 2020.
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Design and preliminary evaluation of a flexible exoskeleton to assist with lifting.一种用于辅助搬运的柔性外骨骼的设计与初步评估。
Wearable Technol. 2021 Jan 11;1:e10. doi: 10.1017/wtc.2020.10. eCollection 2020.
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Development of Quasi-Passive Back-Support Exoskeleton with Compact Variable Gravity Compensation Module and Bio-Inspired Hip Joint Mechanism.具有紧凑可变重力补偿模块和仿生髋关节机构的准被动背部支撑外骨骼的研制。
Biomimetics (Basel). 2024 Mar 13;9(3):173. doi: 10.3390/biomimetics9030173.
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A Wearable Upper Limb Exoskeleton System and Intelligent Control Strategy.一种可穿戴上肢外骨骼系统及智能控制策略。
Biomimetics (Basel). 2024 Feb 21;9(3):129. doi: 10.3390/biomimetics9030129.
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Development and testing of the aerial porter exoskeleton.空中搬运工外骨骼的研发与测试。
Wearable Technol. 2022 Jan 7;3:e1. doi: 10.1017/wtc.2021.18. eCollection 2022.
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Comparing the risk of low-back injury using model-based optimization: Improved technique versus exoskeleton assistance.使用基于模型的优化方法比较下背部损伤风险：改进技术与外骨骼辅助
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