下肢外骨骼康复机器人的发展和应用

Development and Application of Lower Limb Exoskeleton Rehabilitation Robot

随着社会老龄化程度不断加深,下肢功能障碍的患者越来越多,患者运动能力的康复治疗越来越重要。从上世纪80年代开始,面向下肢的外骨骼康复机器人逐步应用于运动障碍患者的康复治疗,尤其是脑卒中等神经疾病导致的运动功能障碍。面向下肢的外骨骼机器人是一种可穿戴、非线性的复杂机械装置,有着广泛的研究与应用价值。本综述根据外骨骼康复机器人治疗部位分三个方面阐述了面向下肢的外骨骼康复机器人的研究现状,临床应用以及面临的挑战,并在此基础上展望了面向下肢的外骨骼康复机器人的发展趋势。

With the deepening of the aging of society,there are more and more patients with motor dysfunction of low⁃er limb,and rehabilitation therapy for these patients is becoming more and more important.Since the 1980s,exoskeleton robots for lower-limb rehabilitation have been applied to the rehabilitation for patient with dyskinesia,especially those with dyskinesia caused by neurological diseases such as stroke.These exoskeleton robots are wearable,nonlinear and com⁃plex mechanical devices,which deserve to be studied and widely applied.In this review,the research status,clinical ap⁃plication and challenges of exoskeleton robots for lower-limb rehabilitation are described in three aspects according to the difference of the therapeutic sites of exoskeleton rehabilitation robots,and on the basis,the development trend of exoskele⁃ton robots for lower-limb rehabilitation is prospected.