Review of Power-Assisted Lower Limb Exoskeleton Robot

Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additional power to humans,enhance the function of the human body,and help the wearer to bear weight that is previously unbearable.At the same time,employing reasonable structure design and passive energy storage can also assist in specific actions.First,this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad,and analyzes several typical prototypes in detail.Then,the key technologies such as structure design,driving mode,sensing technology,control method,energy management,and human-machine coupling are summarized,and some common design methods of the exoskeleton robot are summarized and compared.Finally,the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized,and the prospect of future development trend has been analyzed.