Journal
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
Volume 13, Issue 8, Pages 1491-1497Publisher
KOREAN SOC PRECISION ENG
DOI: 10.1007/s12541-012-0197-x
Keywords
Exoskeleton robot system; Wearable robot system; Human power assistive system; Human-robot cooperation system; Human-robot interaction
Funding
- Happy tech. program through the National Research Foundation of Korea (NRF)
- Ministry of Education, Science and Technology [2011-0020938]
- Ministry of Knowledge and Economy (MKE), Korea [10035431]
- Ministry of Knowledge Economy (MKE, Korea), under the Advanced Robot Manipulation Research Center [NIPA-2011-C7000-1001-0002]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10035431] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- Ministry of Public Safety & Security (MPSS), Republic of Korea [H1502-12-1002] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2010-0020487, 과C6A1809] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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The exoskeleton robot system is a brand new type of human-robot cooperation system. It fully combines human intelligence and robot power so that robot intelligence and human operator's power are both enhanced. Therefore, it achieves a high-level performance that neither robots nor humans could achieve separately. This paper describes the basic exoskeleton concepts from biological systems to human-robot intelligent systems. It is followed by an overview of the development history of exoskeleton systems and their two main applications: human power assistance and human power augmentation. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the biomechanical design, system structure modeling, human-robot interaction, and control strategy.
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