Key Technologies of Lower Limb Power-Assisted Exoskeleton Robots: A Review

Powered lower limb exoskeleton robots can be divided into 3 types according to their functions: rehabilitation exoskeleton, power-assisted exoskeleton and load-bearing exoskeleton. The lower limb power-assisted exoskeleton robot has broad application prospects due to its light weight, small size and good human-machine compatibility. The four key technologies including mechanical structure design, drive system design, human movement intention recognition, and control system design will be illustrated. For different technologies, a detailed comparison between existing solutions is provided. The remaining unresolved problems and future directions are also discussed in detail to further improve the efficiency, safety and usability of the technology.