Review and Development Trend of the Research on Unpowered Lower Extremity Exoskeleton Robot

Kai Zheng; Lili Liu; Yongfeng Wang; Guoru Zhao

doi:10.16578/j.issn.1004.2539.2021.04.027

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Review and Development Trend of the Research on Unpowered Lower Extremity Exoskeleton Robot

Review | 更新时间：2022-11-10

- Review and Development Trend of the Research on Unpowered Lower Extremity Exoskeleton Robot
- Journal of Mechanical Transmission Vol. 45, Issue 4, Pages: 166-176(2021)
- 作者机构：
  
  1.东北石油大学物理与电子工程学院，黑龙江大庆 163000
  2.中国科学院人机智能协同系统重点实验室深圳先进技术研究院，广东深圳 518055
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.04.027
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郑凯,刘利利,王永奉等.无动力下肢外骨骼机器人研究综述及发展趋势[J].机械传动,2021,45(04):166-176.

Zheng Kai,Liu Lili,Wang Yongfeng,et al.Review and Development Trend of the Research on Unpowered Lower Extremity Exoskeleton Robot[J].Journal of Mechanical Transmission,2021,45(04):166-176.
郑凯,刘利利,王永奉等.无动力下肢外骨骼机器人研究综述及发展趋势[J].机械传动,2021,45(04):166-176. DOI： 10.16578/j.issn.1004.2539.2021.04.027.

Zheng Kai,Liu Lili,Wang Yongfeng,et al.Review and Development Trend of the Research on Unpowered Lower Extremity Exoskeleton Robot[J].Journal of Mechanical Transmission,2021,45(04):166-176. DOI： 10.16578/j.issn.1004.2539.2021.04.027.

摘要

无动力下肢外骨骼机器人，可运用于医疗康复、运动助力以及负载作业等场景。系统阐述了无动力下肢外骨骼机器人的发展背景及助力形式；对国内外无动力下肢外骨骼机器人的研究历程进行综述，按多关节和单关节进行分类，重点总结了两类机器人的结构、特点、优劣势以及效能评估等；围绕无动力下肢外骨骼机器人的关键技术与未来发展趋势进行了分析与展望。

Abstract

The unpowered lower extremity exoskeleton robot can be used in medical rehabilitation， sports assistance， load operation and other scenes.The development background and the forms of assistance of unpowered lower extremity exoskeleton robot are systematically expounded. The research history of unpowered lower extremity exoskeleton robots at home and abroad is summarized， it is classified according to multi joint and single joint， and the structure， characteristics， advantages and disadvantages， and efficiency evaluation of the two types of robots are summarized. According to the key technologies and future development trend of unpowered lower extremity exoskeleton robots， the analysis and prospect are carried out.

关键词

无动力下肢外骨骼康复助力负载承重

Keywords

UnpoweredLower extremity exoskeletonRehabilitation assistanceLoad bearing

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