Wearable Exoskeleton Robots Based on Human-machine Coupling Systems

Abstract

The normal functioning of the human limbs is crucial to health, and any impairment of their function can lead to severe mobility issues. Disability of any degree significantly impacts daily life. Although assessment and treatment systems based on robotic exoskeletons have demonstrated positive results over the past two decades, there are still areas in applied research that require further exploration. In recent years, flexible exoskeleton human-machine intelligent systems have emerged as a new hotspot in interdisciplinary fields such as robotics, mechatronics, control engineering, bioengineering, and artificial intelligence. Their applications in scientific research, industrial manufacturing, deep space and deep sea exploration, entertainment, rehabilitation medicine, and daily life are continuously expanding. The core of this technology lies in human-machine integration, aiming to fuse human intelligence with machine capabilities. Through deep coupling at the perception, decision-making, and execution levels, the system's overall performance is enhanced. Among these, teleoperated and power-assisted exoskeletons constitute the two key branches of the flexible exoskeleton human-machine intelligent system. Recent technical explorations and product developments both domestically and internationally have demonstrated its profound foundational research value and vast application potential. This article centers on the human-machine coupling system of exoskeleton robots, based on human body structure analysis, and provides an overview of existing research findings, current technical challenges, and future trends both domestically and internationally.