用于可穿戴式人体助力和运动康复的人工肌肉

董天云; 张向良; 刘涛

doi:10.1631/FITEE.1800618

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用于可穿戴式人体助力和运动康复的人工肌肉

常规文章 | Updated：2022-05-19

- 用于可穿戴式人体助力和运动康复的人工肌肉
- Artificial muscles for wearable assistance and rehabilitation
- 信息与电子工程前沿（英文） 2018年19卷第11期页码：1303-1315
- Affiliations：
  
  State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
  Yunnan Key Laboratory of Computer, Kunming University of Science and Technology, Kunming 650500, China
- Author bio：
  
  [ "", "Dr. Tao LIU, corresponding author of this invited review article, received M. Eng. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 2003 and Ph. D. in engineering from Kochi University of Technology, Kochi, Japan, in 2006. He was an assistant professor in the Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Japan, from 2009 to 2013. He is currently a professor at the State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, China, and Director of Institute of Micro-/Nanotechnology and Precision Engineering in the Department of Mechanical Engineering, Zhejiang University, China. His current research interests include wearable sensor systems, rehabilitation robots, biomechanics, and human motion analysis" ]
- Funds：
  
  Project supported by the the National Natural Science Foundation of China (No. 51775485)
- DOI：10.1631/FITEE.1800618
  中图分类号： TB332;TP271
- 收稿：2018-10-06，
  
  修回：2018-11-26，
  
  纸质出版：2018-11
- Accepted：
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董天云, 张向良, 刘涛. 用于可穿戴式人体助力和运动康复的人工肌肉[J]. 信息与电子工程前沿（英文）, 2018,19(11):1303-1315.

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU. Artificial muscles for wearable assistance and rehabilitation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(11): 1303-1315.
董天云, 张向良, 刘涛. 用于可穿戴式人体助力和运动康复的人工肌肉[J]. 信息与电子工程前沿（英文）, 2018,19(11):1303-1315. DOI： 10.1631/FITEE.1800618.

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU. Artificial muscles for wearable assistance and rehabilitation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(11): 1303-1315. DOI： 10.1631/FITEE.1800618.

摘要

传统外骨骼在可穿戴式人体助力和运动康复领域做出巨大贡献。然而，外骨骼仍然面临一些挑战，如质量大、结构复杂、刚度高、噪音大，且关节处有固定旋转中心，给老年人和肌肉虚弱者带来使用困难。相反，基于柔性智能材料的人工肌肉具有质量轻、结构紧凑、刚度低和静音驱动等特性，被认为是与天然肌肉最相似的材料。介电弹性体（dielectric elastomers，DE）和聚氯乙烯（polyvinyl chloride，PVC）凝胶致动应变和致动应力大，响应速度快，驱动寿命长，在可穿戴式人体助力和运动康复领域具有很大应用潜力。然而，这两种材料在这些领域少有研究。在这篇综述中，我们首先分别介绍DE和PVC凝胶的工作原理。接着，总结常用DE材料和PVC凝胶材料。然后，回顾这两种材料所需要的驱动电极和自传感系统。最后，介绍这两种材料在可穿戴式人体助力和运动康复领域的初步应用。

Abstract

Traditional exoskeletons have made considerable contributions to people in terms of providing wearable assistance and rehabilitation. However

exoskeletons still have some disadvantages

such as being heavy

bulky

stiff

noisy

and having a fixed center of rotation that can be a burden on elders and patients with weakened muscles. Conversely

artificial muscles based on soft

smart materials possess the attributes of being lightweight

compact

highly flexible

and have mute actuation

for which they are considered to be the most similar to natural muscles. Among these materials

dielectric elastomer (DE) and polyvinyl chloride (PVC) gel exhibit considerable actuation strain

high actuation stress

high response speed

and long life span

which give them great potential for application in wearable assistance and rehabilitation. Unfortunately

there is very little research on the application of these two materials in these fields. In this review

we first introduce the working principles of the DE and PVC gel separately. Next

we summarize the DE materials and the preparation of PVC gel. Then

we review the electrodes and self-sensing systems of the two materials. Lastly

we present the initial applications of these two materials for wearable assistance and rehabilitation.

关键词

Keywords

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