一种可提高和改善步行功能的装置：动力下肢外骨骼系统的设计及应用

摘要

Lower extremity exoskeleton system is a kind of human-machine robot, which combines the artificial intelligence with the power of mechanism. Recent years, the field of lower extremity exoskeleton robots have rapidly evolved and development of relevant technologies have dramatically increased these robots available for facilitating human walking function that could only be imagined a few years ago. Some technologies are so new that they lack the scientific evidence that would justify their use in the real setting. This paper presents an over view of design configurations, control methods and simulation test used for lower extremity exoskeleton robots. Further research efforts are required in order to incorporate many of the new technologies described in this review to promote the development of the lower extremity exoskeleton robots.%下肢外骨骼系统是一种结合了人工智能和机械动力装置的机器人。近年来，下肢外骨骼机器人发展迅速，相关技术不断成熟，极大增强了人类的步行能力，但是一些新技术在缺乏实际环境中的检验。本文主要回顾下肢外骨骼机器人的结构配置、控制方式和仿真检验，认为今后的研究方向应将各种新技术结合起来，更好地推动下肢外骨骼机器人的发展。