可穿戴下肢外骨骼康复机器人研究现状与发展趋势

Current status and development trend of wearable lower-limb exoskeleton rehabilitation robot

介绍了国内外可穿戴下肢外骨骼康复机器人的研究现状,指出了该领域目前研究的热点问题。分析了可穿戴下肢外骨骼康复机器人在设计生产中的驱动系统、感知系统、控制系统、人机匹配技术、人机交互技术和电池及管理技术等6种关键技术,指出了未来国内在可穿戴下肢外骨骼康复机器人的研发方面应注重结构模块化及控制系统智能化,在康复效果监测方面应建立完善的康复效果评价系统等。

The domestic and international development status of wearable lower-limb exoskeleton robots was reviewed,and the hot issues in this field were pointed out.The robot had its key technologies analyzed including those for drive system,perception system,control system,human-computer matching technology,human-computer interaction technology and battery and management technology.It was expected that the research and development of domestic wearable exoskeleton robots should focus on structural design modularization,intelligent control system,and rehabilitation effect evaluation system should be established in the future.