外骨骼机器人助力效能测试方法及应用综述

Exoskeleton robots have shown promising applications in military, medical and industrial fields. A scientific exoskeleton assisting effectiveness evaluation system is urgently needed to achieve guidance and specification for exoskeleton research and development, product iteration, and practical use. CiteSpace visualized scientific knowledge mapping analysis and data statistics are conducted to comprehensively grasp the existing performance evaluation methods. The current research status of 5 common assisting effectiveness evaluation methods is reviewed in detail, including metabolic cost evaluation, bioelectrical signal evaluation, kinematic and kinetic parameters evaluation, work performance evaluation, and comprehensive evaluation models, and their key indicators and technical limitations are summarized. An outlook on the development trends and research priorities of exoskeleton assisting effectiveness evaluation technology is presented from 4 aspects: evaluation theories deepening and test method, establishment method of targeted candidate evaluation sets, comprehensive evaluation model structure design and index weights assignment method, and multi-scene test method, which has practical significance to improve the exoskeleton testing system and realize technology horizontal comparison.