可穿戴外骨骼适体性设计研究综述

余从刚; 李大丽; 张文斌; 赵伟; 鞠曼

doi:10.19554/j.cnki.1001-3563.2026.14.008

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包装工程（设计栏目） ›› 2026, Vol. 47 ›› Issue (14) : 83-99. DOI: 10.19554/j.cnki.1001-3563.2026.14.008

特别策划

可穿戴外骨骼适体性设计研究综述

余从刚, 李大丽^*, 张文斌, 赵伟, 鞠曼

作者信息 +

A Review of Research on Fit Design for Wearable Exoskeletons

YU Conggang, LI Dali^*, ZHANG Wenbin, ZHAO Wei, JU Man

Author information +

文章历史 +

摘要

目的评述可穿戴外骨骼适体性设计相关研究,梳理适体性概念边界和构成维度,构建适体性研究理论框架,启发可穿戴外骨骼设计创新。方法采用叙述性综述方法,通过相关文献的检索、归纳与理论分析,从身体—设备耦合关系出发,界定适体性与舒适性、适人性、适应性的关联与区别,从外形结构的物理适体性、操作互馈的交互适体性、心理预期的情感适体性三个维度,归纳外骨骼适体性设计的理论现状与技术特征。结果现有研究多从技术实现角度探讨外骨骼与人体的匹配关系,外骨骼适体性设计仍存在理论框架不完善、评价维度不系统、情感体验关注不足等问题。适体性不是单一的舒适结果或设备适应能力,而是外骨骼在特定用户、任务与情境中,与人体结构、生理负荷、运动行为、情感认知形成的关系质量。结论外骨骼适体性研究应由设备单项性能优化走向“人-机-情境”关系的系统建构：物理适配由静态几何匹配走向“组织-界面-结构”的多尺度动态适配;交互适配由控制参数走向用户与设备共同学习和共同决策的双向互适应;情感适配由情绪检测走向状态识别、策略调节、反馈输出与体验再评价的情感闭环。建立特定用户、真实场景和长期使用过程的综合评价体系,为外骨骼适体性理论发展、产品设计优化及评价标准构建提供参考。

Abstract

The work aims to provide a narrative review of advances in fit design for wearable exoskeletons, delineate the conceptual boundaries and constituent dimensions of fit, and construct a theoretical framework for fit research to inform design innovation of wearable exoskeletons. Through retrieval, induction and theoretical analysis of relevant literature, and starting from the coupling relationship between the body and the device, the correlation and differences between fit and comfort, human-centeredness and adaptability were defined. From three dimensions, namely the physical fit of the shape structure, the interactive fit of the operation feedback, and the affective fit of the psychological expectation, the theoretical status and technical characteristics of exoskeleton fit design were summarized. The findings indicate that existing studies have predominantly examined exoskeleton-body compatibility from the perspective of technological implementation. However, the field continues to lack a coherent theoretical framework, a systematic evaluation framework, and adequate consideration of users' affective experiences. Fit should therefore be understood neither merely as an outcome of comfort nor solely as the adaptive capability of a device, but as the quality of the relationship established between an exoskeleton and the user's bodily structure, physiological load, motor behavior, and affective cognition under specific users, tasks, and contextual conditions. Future research should move beyond optimizing isolated device functions toward systematically constructing human-machine-context relationships. Physical fit design should evolve from static geometric matching toward multiscale dynamic adaptation across biological tissues, human-device interfaces, and device structures. Interactive fit design should progress from the control-parameter optimization toward bidirectional co-adaptation based on shared learning and joint decision-making between the user and the device. Affective fit design should advance beyond emotion recognition toward an affective closed-loop system that integrates state recognition, strategy adjustment, feedback delivery, and experience re-evaluation. Furthermore, a comprehensive fit design evaluation system encompassing specific user groups, real-world use scenarios, and long-term interaction should be established to support the theoretical development of fit design for exoskeletons, the optimization of product design, and the formulation of evaluation standards.

导出引用1

余从刚, 李大丽, 张文斌, 赵伟, 鞠曼. 可穿戴外骨骼适体性设计研究综述[J]. 包装工程. 2026, 47(14): 83-99 https://doi.org/10.19554/j.cnki.1001-3563.2026.14.008

YU Conggang, LI Dali, ZHANG Wenbin, ZHAO Wei, JU Man. A Review of Research on Fit Design for Wearable Exoskeletons[J]. Packaging Engineering. 2026, 47(14): 83-99 https://doi.org/10.19554/j.cnki.1001-3563.2026.14.008

中图分类号： TB482

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