可穿戴式下肢外骨骼康复机器人研究进展

For patients with lower-limb movement disorders caused by spinal cord injury, brain injury, and other factors, the lower-limb exoskeleton rehabilitation robot can be applied to performing precise rehabilitation in the early stage of the patient injury, and optimizing the rehabilitation strategy during the rehabilitation process. This paper compares the advantages of lower-limb exoskeleton rehabilitation robots over the traditional rehabilitation methods, and expounds the equipment characteristics and application scenarios of different exoskeleton robots based on the research status at home and abroad. The key technologies for exoskeleton rehabilitation robots are analyzed in detail, including driving methods, control systems, and training modes. Finally, the challenges to lower-limb exoskeleton rehabilitation robots in future development are emphatically discussed, and feasible discussions are put forward from five aspects, such as mechanical structure optimization, driving algorithm optimization, intelligent rehabilitation process, application scenario optimization based on virtual reality technology, and evaluation of rehabilitation effect. The future technology trends of the lower-limb exoskeleton rehabilitation robot are analyzed feasibly.