A Systematic Review on Rigid Exoskeleton Robot Design for Wearing Comfort: Joint Self-Alignment, Attachment...

Area of Science:

• Robotics
• Biomechanics
• Human-Computer Interaction

Background:

• Exoskeleton robots aid individuals with physical impairments, but user discomfort limits their use.
• Addressing discomfort is crucial for wider adoption and effectiveness of exoskeleton technology.

Purpose of the Study:

• To systematically define and analyze key design factors influencing the wearing comfort of rigid exoskeleton robots.
• To explore structural configurations of the Physical Human-Robot Attachment Interface (PHRAI) and evaluation indicators.
• To assess customized design methods involving parametric design, 3D scanning, and 3D printing.

Main Methods:

• Comparative analysis of traditional versus self-alignment mechanism exoskeleton robots.
• In-depth exploration of PHRAI structural configurations and quantitative evaluation metrics.
• Evaluation of structural customization techniques including parametric design, 3D scanning, and 3D printing.

Main Results:

• Identification of critical design factors impacting exoskeleton wearing comfort.
• Analysis of PHRAI structures and their quantitative assessment methods.
• Evaluation of the benefits and drawbacks of advanced customization techniques for exoskeleton design.

Conclusions:

• Optimizing exoskeleton design factors is essential for improving user comfort.
• Advanced customization methods offer potential for personalized and comfortable exoskeleton solutions.
• This research provides guidance for future exoskeleton development, focusing on user comfort and applicability.