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浙江大学学报(工学版)
浙江大学学报(工学版)  2021, Vol. 55 Issue (2): 251-258    DOI: 10.3785/j.issn.1008-973X.2021.02.005
机械工程     
外肢体机器人研究综述
刘德斌1(),王旦1,2,*(),陈柏1,王尧尧1,2,宋立瑶1
1. 南京航空航天大学 直升机传动技术国防科技重点实验室，江苏 南京 210016
2. 浙江大学 流体动力与机电系统国家重点实验室，浙江 杭州 310027
A survey of supernumerary robotic limbs
De-bin LIU1(),Dan WANG1,2,*(),Bai CHEN1,Yao-yao WANG1,2,Li-yao SONG1
1. National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
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摘要：

阐述外肢体机器人（SRLs）的研究背景和研究意义. 介绍外肢体机器人的概念，将外肢体机器人按照功能分为辅助操作外肢体与辅助支撑外肢体. 针对不同结构类型与结构柔性的2类外肢体机器人总结研究现状. 就外肢体机器人人机一体化特性带来的结构轻量化、安全性、人机协作、抗干扰能力四方面对外肢体机器人的研究要点进行分析. 对外肢体机器人未来的发展趋势进行总结与展望.
关键词： 外肢体机器人;  人机协作;  辅助操作;  辅助支撑    
Abstract:

Firstly, the research background and the significance of supernumerary robotic limbs (SRLs) were introduced. Secondly, the concept of SRLs was provided, and SRLs were divided into two parts, i.e., auxiliary operation SRLs and auxiliary support SRLs, according to their functions. Thirdly, the current research status and progress for different structure types and structural flexibility SRLs were outlined. Besides, the main research points about man-machine integration for the SRLs were analyzed in terms of lightweight design and security, robotic-human-environment interaction and cooperation and anti-interference capability. Finally, the prospect of the SRLs was summarized.
Key words: supernumerary robotic limbs    robotic-human-environment interaction and cooperation    auxiliary operation    auxiliary support
收稿日期: 2020-05-11 出版日期: 2021-03-09
CLC:  TH 39  
基金资助: 国家自然科学基金资助项目（51705243）；流体动力与机电系统国家重点实验室开放基金资助项目（GZKF-201917）；江苏省自然科学基金资助项目（BK20170789）；南京航空航天大学基本科研业务费-青年科技创新基金资助项目（NT2020010）
通讯作者: 王旦     E-mail: nuaaldb@nuaa.edu.cn;wangdan_053@nuaa.edu.cn
作者简介: 刘德斌（1994—），男，硕士生，从事智能机器人研究. orcid.org/0000-0001-9411-4081. E-mail： nuaaldb@nuaa.edu.cn
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引用本文:

刘德斌,王旦,陈柏,王尧尧,宋立瑶. 外肢体机器人研究综述[J]. 浙江大学学报(工学版), 2021, 55(2): 251-258.

De-bin LIU,Dan WANG,Bai CHEN,Yao-yao WANG,Li-yao SONG. A survey of supernumerary robotic limbs. Journal of ZheJiang University (Engineering Science), 2021, 55(2): 251-258.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.02.005    或    http://www.zjujournals.com/eng/CN/Y2021/V55/I2/251

图 1  辅助操作外肢体机器人示意图
图 2  辅助支撑外肢体机器人示意图
图 3  面向头顶空间作业的外肢体机器人
图 4  面向舱内钻孔作业的外肢体机器人
图 5  面向舱内布线及装配作业的外肢体机器人
图 6  面向天花板安装作业的外肢体机器人
图 7  外肢体机器人MetaLimbs
图 8  外肢体机器人Naviarm
图 9  基于液压驱动的3自由度外肢体机器人
图 10  安装在肘部的外肢体机器人
图 11  柔性外肢体机器人SPL
图 12  柔性外肢体机器人fSPL
图 13  充气式柔性外肢体机器人
图 14  蛇形外肢体机器人 Orochi
图 15  辅助支撑外肢体机器人
图 16  肌电控制的外肢体机器人
图 17  外肢体机器人MantisBot
图 18  面向日常生活应用的外肢体机器人
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