Review of Power-Assisted Lower Limb Exoskeleton Robot

作     者：贺贵松 黄学功 李峰 汪辉兴 HE Guisong;HUANG Xuegong;LI Feng;WANG Huixing

作者机构：School of Mechanical EngineeringNanjing University of Science and TechnologyNanjing 219904China 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2024年第29卷第1期

页      面：1-15页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：the National Natural Science Foundation of China(No.52075264) 

主　　题：power assistance lower limb exoskeleton robot research status key technology 

摘      要：Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other *** system can use external energy to provide additional power to humans,enhance the function of the human body,and help the wearer to bear weight that is previously *** the same time,employing reasonable structure design and passive energy storage can also assist in specific ***,this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad,and analyzes several typical prototypes in ***,the key technologies such as structure design,driving mode,sensing technology,control method,energy management,and human-machine coupling are summarized,and some common design methods of the exoskeleton robot are summarized and ***,the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized,and the prospect of future development trend has been analyzed.