Systematic Review on Wearable Lower Extremity Robotic Exoskeletons for Assisted Locomotion  

作　　者：Shuang Qiu Zhongcai Pei Chen Wang Zhiyong Tang 

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China

出　　处：《Journal of Bionic Engineering》2023年第2期436-469,共34页仿生工程学报（英文版）

基　　金：the National Basic Research Program of China(Grant No.2016YFC0802700);the National Natural Science Foundation of China(Grant No.50975010,Grant No.51075017).

摘　　要：Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.

关 键 词：Lower extremity robotic exoskeletons Bionic robot Classifcation method Human-robot interaction Biomechatronic 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]