重磅综述！10年间164项研究揭示软体可穿戴机器人技术全貌与未来方向

Core Viewpoint - The article discusses the rapid development of soft wearable robots, also known as exosuits, which are revolutionizing rehabilitation technology by providing more comfortable and effective assistance compared to traditional rigid exoskeletons [1][2]. Group 1: Transition from Rigid to Soft Rehabilitation Robots - Traditional rehabilitation robots often use rigid exoskeleton structures, which can be complex and heavy, increasing metabolic costs and limiting their use to clinical environments [2]. - Soft exosuits are designed to wrap around the user's body, working in synergy with the user's muscles and preserving their natural range of motion, thus enhancing comfort [2]. Group 2: Overview of Actuation Technologies - The review categorizes soft exosuit actuation technologies into four main types, each with unique characteristics and applications [4]. - Fluid-driven actuators are the most widely used, with 55 devices employing this technology, primarily pneumatic drives, which can mimic complex muscle movements but face portability challenges [5]. - Motor-cable drives, used in 59 devices, offer precise control and high bandwidth but may cause friction and skin damage [7]. - Shape memory alloys (SMA) provide quiet and efficient operation but have limitations in response speed and control [8]. - Dielectric elastomer actuators (DEA) represent cutting-edge technology with impressive performance metrics but pose safety concerns due to high operating voltages [9]. Group 3: Joint Assistance Solutions - The review systematically analyzes assistive devices for various joints, focusing on both single-joint and multi-joint collaborative assistance [12]. - Upper limb assistance primarily utilizes pneumatic drives, with innovative designs for shoulder and elbow support [13][15]. - Hand rehabilitation devices are in high demand, with over 40 types analyzed, showcasing various technological approaches [18]. - Lower limb assistance systems require greater force, with specific designs for hip, knee, and ankle joints demonstrating significant reductions in metabolic costs during walking [24][27]. Group 4: Trends in Hybrid Designs - A notable trend is the integration of hybrid designs, combining soft and rigid components to enhance mechanical efficiency while maintaining comfort [30]. - Examples include hand devices that guide tendons with reinforced structures and semi-rigid knee devices that improve force transmission efficiency [30]. Group 5: Commercialization Progress and Challenges - The review tracks the commercialization of soft wearable robots, highlighting products like ReWalk Robotics' ReStore and Carbonhand, which assist stroke patients in improving mobility and grip [31]. - Challenges remain in ensuring comfort while providing sufficient assistance, as well as addressing the limitations of various drive systems [33]. Group 6: Future Outlook - The article emphasizes the need for developing cable-free devices that can assist multiple joints while being intuitive and comfortable for users [34]. - This requires interdisciplinary collaboration in materials science, mechanical engineering, and control theory to create soft yet strong materials and intelligent control systems [34]. Group 7: Conclusion - Soft wearable robots represent the future of rehabilitation technology, with ongoing advancements expected to significantly improve the lives of millions with mobility impairments [36].