Exoskeleton Upper Limb Robot: Classification, Key Technology and Research Direction

As a human-computer interaction system, upper limb exoskeleton robots play an important role in rehabilitation medicine and human assistance by enhancing human strength and providing payload support. This article summarizes the functional classification, key technologies, and applications of upper limb exoskeleton robots. Firstly, the development status of upper limb exoskeletons at home and abroad was analyzed, and the classification of upper limb exoskeletons, including rehabilitation medicine and human assistance, was introduced. Typical exoskeleton robots with different driving and transmission modes were also detailed. Secondly, the key technologies of upper limb exoskeletons include control technology and drive technology. In terms of control technology, key technologies such as motion intention recognition, motion trajectory planning, and human-computer interaction were analyzed, and the application effects of different algorithms and methods were discussed. In terms of transmission technology, the advantages and disadvantages of electric motors, hydraulic and pneumatic modes, as well as direct transmission and cable transmission were compared. Finally, the future development of upper limb exoskeleton robots at the software and hardware levels was discussed, and improvement measures were proposed to enhance intent recognition intelligence, optimize trajectory planning, and enhance human-machine compatibility. This study provides theoretical basis and technical reference for the further development of upper limb exoskeleton robots.