J Shanghai Jiaotong Univ Sci ›› 2024, Vol. 29 ›› Issue (1): 16-28.doi: 10.1007/s12204-022-2452-3

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  1. (1. 上海大学 机电工程与自动化学院,上海 200444;2. 上海交通大学 机械与动力工程学院,上海 200240) []
  • 接受日期:2021-02-02 出版日期:2024-01-24 发布日期:2024-01-24

Review of Key Technologies for Developing Personalized Lower Limb Rehabilitative Exoskeleton Robots

TAO Jing1,2 (陶璟), ZHOU Zhenhuan1(周振欢)   

  1. (1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; 2. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)
  • Accepted:2021-02-02 Online:2024-01-24 Published:2024-01-24

摘要: 康复治疗和日常生活辅助对提高脑卒中、脊髓损伤、脑瘫、骨科术后病人以及老年人群等下肢运动障碍患者的生活质量有关键作用。下肢康复外骨骼机器人在以上人群康复治疗和生活辅助方面具有良好应用前景。本文针对面向多样化个性化用户需求的外骨骼机器人开发,首先分析并综述了下肢康复外骨骼机器人本体模块化、仿生柔顺驱动、个性化自适应步态规划以及面向个体的运动意图感知与推理方法和技术。进一步,基于服务化理论,探讨了面向个性化医疗的下肢康复外骨骼机器人产品服务系统开发潜力和关键支持技术。康复外骨骼今后研究趋势应是从个体化特征和个性化需求入手,以此驱动外骨骼机器人本体技术和服务化开发,从而技术上实现真正人机协同与融合,效用上实现可获得的高质量康复医疗和生活辅助。

关键词: 动力外骨骼, 下肢运动障碍, 康复, 个性化, 产品服务系统

Abstract: Rehabilitative training and assistance to daily living activities play critical roles in improving the life quality of lower limb dyskinesia patients and older people with motor function degeneration. Lower limb rehabilitative exoskeleton has a promising application prospect in support of the above population. In this paper, critical technologies for developing lower limb rehabilitative exoskeleton for individualized user needs are identi- fied and reviewed, including exoskeleton hardware modularization, bionic compliant driving, individualized gait planning and individual-oriented motion intention recognition. Inspired by the idea of servitization, potentials in exoskeleton product-service system design and its enabling technologies are then discussed. It is suggested that future research will focus on exoskeleton technology and exoskeleton-based service development oriented to an individual’s physical features and personalized requirements to realize better human-exoskeleton coordination in terms of technology, as well as accessible and high-quality rehabilitation and living assistance in terms of utility.