A Review on Lower Limb Rehabilitation Exoskeleton Robots
Abstract Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower li...
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doaj-c7f61518d4f24ee6933c4347ae6f5b942020-11-25T03:54:22ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582019-08-0132111110.1186/s10033-019-0389-8A Review on Lower Limb Rehabilitation Exoskeleton RobotsDi Shi0Wuxiang Zhang1Wei Zhang2Xilun Ding3School of Mechanical Engineering and Automation, Beihang UniversitySchool of Mechanical Engineering and Automation, Beihang UniversitySchool of Mechanical Engineering and Automation, Beihang UniversitySchool of Mechanical Engineering and Automation, Beihang UniversityAbstract Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and state-of-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms; further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.http://link.springer.com/article/10.1186/s10033-019-0389-8Control methodLower limb exoskeletonMechanical designRehabilitation robot |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Di Shi Wuxiang Zhang Wei Zhang Xilun Ding |
spellingShingle |
Di Shi Wuxiang Zhang Wei Zhang Xilun Ding A Review on Lower Limb Rehabilitation Exoskeleton Robots Chinese Journal of Mechanical Engineering Control method Lower limb exoskeleton Mechanical design Rehabilitation robot |
author_facet |
Di Shi Wuxiang Zhang Wei Zhang Xilun Ding |
author_sort |
Di Shi |
title |
A Review on Lower Limb Rehabilitation Exoskeleton Robots |
title_short |
A Review on Lower Limb Rehabilitation Exoskeleton Robots |
title_full |
A Review on Lower Limb Rehabilitation Exoskeleton Robots |
title_fullStr |
A Review on Lower Limb Rehabilitation Exoskeleton Robots |
title_full_unstemmed |
A Review on Lower Limb Rehabilitation Exoskeleton Robots |
title_sort |
review on lower limb rehabilitation exoskeleton robots |
publisher |
SpringerOpen |
series |
Chinese Journal of Mechanical Engineering |
issn |
1000-9345 2192-8258 |
publishDate |
2019-08-01 |
description |
Abstract Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and state-of-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms; further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies. |
topic |
Control method Lower limb exoskeleton Mechanical design Rehabilitation robot |
url |
http://link.springer.com/article/10.1186/s10033-019-0389-8 |
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