Title:Current Status of Research and Critical Technologies for Lower Limb-assisted Exoskeleton Robots
Volume: 19
Issue: 7
Author(s): HongBo Liu*, Yuze Lin and Xiaodong Yang
Affiliation:
- School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, P.R.
China
Keywords:
Exoskeleton, human-computer interaction, lower limbassistance, actuation technology, modularity, active control strategies.
Abstract:
Background: Lower limb-assisted exoskeleton robots have gained wide attention today
because of their practicality, complete functions, and advanced technology.
Objective: By analyzing the current research status and key technology classification of lower limbassisted
exoskeleton robots and thinking about the future development direction of lower limbassisted
exoskeleton robots, the feasibility of future development is proposed to provide a reference
for the readers.
Methods: This patent paper systematically describes the classification and development history of
lower limb-assisted exoskeleton robots, introduces the working principles of various types of lower
limb-assisted exoskeleton robots, summarizes the current research status of lower limb-assisted exoskeleton
robots through a study of patents and journals, analyzes the critical technologies of active/
passive lower limb-assisted exoskeleton robots, and outlooks their future development direction.
Results: Through the research and analysis of active and passive exoskeleton robots, both of them
have their shortcomings to be improved. Although exoskeleton robots at this stage have been able
to be applied, there are still many problems such as insufficient endurance and poor structural flexibility.
Conclusion: Finally, based on the analysis and comparison of the current situation and key technologies
of active/passive lower limb-assisted exoskeleton robots, the future development trend of
lower limb-assisted exoskeleton robots is predicted, and it is believed that the ultimate development
trend is the exoskeleton robots with the combination of rigid and flexible structure and activepassive
assistance mode.