主动助力下肢康复外骨骼机器人研究现状

郭毅锋; 邓凯; 黄丽敏; 贺敏; 张敏

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主动助力下肢康复外骨骼机器人研究现状

更新时间：2024-09-12

- 主动助力下肢康复外骨骼机器人研究现状
- Current Research Status of Active-Assist Lower Limb Rehabilitation Exoskeleton Robots
- 机械传动 2024年页码：1-16
- 作者机构：
  
  1.广西科技大学，广西柳州 545026
  2.成都大学，四川成都 610106
  3.贺州学院，广西贺州 542899
- 作者简介：
  
  郭毅锋(1979-)，男，四川成都人，教授，硕导，博士，研究方向为智能控制等，邮箱：guobujia2000@163.com
  黄丽敏(1982-)，女，广西永福人，高级工程师，硕导，工学硕士，研究方向智能控制，邮箱：hlmsn155@163.com
- 基金信息：
  
  四川省自然科学基金项目(2023NSFSC0368;2023YFQ0092┫四川省大学习创新训练计划项目┣S202211079055)
- DOI：
  中图分类号：
- 网络出版日期：2024-09-11，
- 稿件说明：
移动端阅览
郭毅锋, 邓凯, 黄丽敏, 等. 主动助力下肢康复外骨骼机器人研究现状[J/OL]. 机械传动, 2024,1-16.

Guo Yifeng, Deng Kai, Huang Limin, et al. Current Research Status of Active-Assist Lower Limb Rehabilitation Exoskeleton Robots[J/OL]. Journal of Mechanical Transmission, 2024,1-16.
郭毅锋, 邓凯, 黄丽敏, 等. 主动助力下肢康复外骨骼机器人研究现状[J/OL]. 机械传动, 2024,1-16. DOI：

Guo Yifeng, Deng Kai, Huang Limin, et al. Current Research Status of Active-Assist Lower Limb Rehabilitation Exoskeleton Robots[J/OL]. Journal of Mechanical Transmission, 2024,1-16. DOI：

摘要

在当前人口老龄化和下肢障碍人群急剧增加的情况下，开发主动助力下肢康复外骨骼机器人具有重要的意义。本文对国内外主动助力下肢康复外骨骼机器人的研究现状进行了综述。按单关节和多关节进行分类，重点总结了两类机器人的结构、适用人群、应用场景等关键信息；对其中的关键技术（驱动器类型、人机耦合、能源动力等）进行了阐述和分析；最后，围绕主动助力下肢康复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

It is crucial to develop active assistant lower limb rehabilitation exoskeleton robots in light of the current situation of population aging and the sharp rise in the number of people with lower limb disorders. The current state of research on active assistant lower limb rehabilitation exoskeleton robots was reviewed in this study

both domestically and internationally; single-joint and multi-joint robots were the basis for classification; the structures

applicable populations

application scenarios

and other pertinent details of these two types of robots were particularly summarized. The main technologies were explained and analyzed (actuator type

human-machine doubling

energy and power

etc.). Finally

an analysis and prospect was conducted about the essential technologies and future development trends of active assistant lower limb rehabilitation exoskeleton robots.

关键词

主动助力下肢康复外骨骼下肢障碍驱动器人机耦合

Keywords

Active assistantLower limb rehabilitation exoskeletonLower limb disorders ActuatorHuman-machine doubling

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