Review of Key Technologies for Developing Personalized Lower Limb Rehabilitative Exoskeleton Robots  

作　　者：陶璟 周振欢 TAO Jing;ZHOU Zhenhuan(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China [2]School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第1期16-28,共13页上海交通大学学报（英文版）

基　　金：the National Natural Science Foundation of China(No.51875358)。

摘　　要：Rehabilitative training and assistance to daily living activities play critical roles in improving the life quality of lower limb dyskinesia patients and older people with motor function degeneration.Lower limb reha-bilitative exoskeleton has a promising application prospect in support of the above population.In this paper,critical technologies for developing lower limb rehabilitative exoskeleton for individualized user needs are identi-fied and reviewed,including exoskeleton hardware modularization,bionic compliant driving,individualized gait planning and individual-oriented motion intention recognition.Inspired by the idea of servitization,potentials in exoskeleton product-service system design and its enabling technologies are then discussed.It is suggested that future research will focus on exoskeleton technology and exoskeleton-based service development oriented to an individual's physical features and personalized requirements to realize better human-exoskeleton coordination in terms of technology,as well as accessible and high-quality rehabilitation and living assistance in terms of utility.

关 键 词：powered exoskeleton lower limb dyskinesia REHABILITATION PERSONALIZATION product-service system 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]