软机器人在辅助移动方面的最新进展：对物理治疗师和患者确定的当前下肢外骨骼的局限性以及潜在的软机器人解决方案的综述。
The-state-of-the-art of soft robotics to assist mobility: a review of physiotherapist and patient identified limitations of current lower-limb exoskeletons and the potential soft-robotic solutions.
机构信息
Centre for Health and Clinical Research, University of the West of England, Bristol, UK.
Bristol Robotics Laboratory, Bristol, UK.
出版信息
J Neuroeng Rehabil. 2023 Jan 30;20(1):18. doi: 10.1186/s12984-022-01122-3.
BACKGROUND
Soft, wearable, powered exoskeletons are novel devices that may assist rehabilitation, allowing users to walk further or carry out activities of daily living. However, soft robotic exoskeletons, and the more commonly used rigid exoskeletons, are not widely adopted clinically. The available evidence highlights a disconnect between the needs of exoskeleton users and the engineers designing devices. This review aimed to explore the literature on physiotherapist and patient perspectives of the longer-standing, and therefore greater evidenced, rigid exoskeleton limitations. It then offered potential solutions to these limitations, including soft robotics, from an engineering standpoint.
METHODS
A state-of-the-art review was carried out which included both qualitative and quantitative research papers regarding patient and/or physiotherapist perspectives of rigid exoskeletons. Papers were themed and themes formed the review's framework.
RESULTS
Six main themes regarding the limitations of soft exoskeletons were important to physiotherapists and patients: safety; a one-size-fits approach; ease of device use; weight and placement of device; cost of device; and, specific to patients only, appearance of the device. Potential soft-robotics solutions to address these limitations were offered, including compliant actuators, sensors, suit attachments fitting to user's body, and the use of control algorithms.
CONCLUSIONS
It is evident that current exoskeletons are not meeting the needs of their users. Solutions to the limitations offered may inform device development. However, the solutions are not infallible and thus further research and development is required.
背景
柔软、可穿戴、动力外骨骼是新颖的设备，可帮助康复，使使用者能够走得更远或进行日常生活活动。然而，柔软的机器人外骨骼和更常用的刚性外骨骼在临床上并未广泛采用。现有证据强调了外骨骼使用者的需求与设计设备的工程师之间的脱节。本综述旨在探讨文献中关于物理治疗师和患者对更长期存在的、因此更有证据的刚性外骨骼局限性的看法。然后，从工程角度出发，为这些局限性提供了潜在的解决方案，包括软机器人。
方法
进行了一项最先进的综述，其中包括关于患者和/或物理治疗师对刚性外骨骼看法的定性和定量研究论文。论文进行了主题分析，主题构成了综述的框架。
结果
对于软外骨骼的局限性，物理治疗师和患者认为有六个主要问题很重要：安全性；一刀切的方法；设备使用的便利性；设备的重量和位置；设备的成本；以及，仅针对患者，设备的外观。提出了一些潜在的软机器人解决方案来解决这些局限性，包括顺应式执行器、传感器、适合用户身体的套装附件以及控制算法的使用。
结论
显然，当前的外骨骼无法满足用户的需求。提供的解决方案可能为设备开发提供信息。然而，这些解决方案并非万无一失，因此需要进一步的研究和开发。
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