Preliminary Study on Current Research Status and Clinical Application of Lower Limb Rehabilitation Robot Mechanisms
10.3969/j.issn.1671-7104.230135
- VernacularTitle:下肢康复机器人机构研究现状及临床应用初探
- Author:
Chengyi GAO
1
;
Fen LIU
;
Haibo JIANG
Author Information
1. 江苏师范大学圣彼得堡彼得大帝理工大学联合工程学院,徐州市,221116
- Keywords:
human lower limb;
rehabilitation robot;
gait;
human-robot interaction;
mechanism
- From:
Chinese Journal of Medical Instrumentation
2024;48(1):30-37
- CountryChina
- Language:Chinese
-
Abstract:
As an assistive device to restore lower limb athletic ability,human lower limb rehabilitation robots are becoming increasingly important in the field of rehabilitation and clinical applications.With the advancement of science and technology,both domestic and foreign research in this field has been developed.This study provides a detailed overview of the development of lower limb rehabilitation robots and reviews the current status of clinical applications,with a focus on mechanism research,from the perspectives of degrees of freedom,workspace,singularity,gait simulation,kinematic simulation and human-robot interaction,etc.The results show that domestic research on lower limb rehabilitation robots focus on the design and optimization of the mechanism configuration,while foreign research focus on the improvement and innovation of the control system and training mode based on human-computer interaction.Finally,the current state of research is combined with an outlook on future trends.
