Research progress on compliant characteristics of lower extremity exoskeleton robots - 文章详情页

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摘要：

The　lower　extremity　exoskeleton　robot　is　a　wearable　device　designed　to　help　people　suffering　from　a　walking　disorder　to　regain　the　power　of　the　legs　and　joints　to　achieve　standing　and　walking　functions.　Compared　with　traditional　robots　that　include　rigid　mechanisms,　lower　extremity　exoskeleton　robots　with　compliant　characteristics　can　store　and　release　energy　in　passive　elastic　elements　while　minimizing　the　reaction　force　due　to　impact,　so　it　can　improve　the　safety　of　human-robot　interaction.　This　paper　reviews　the　compliant　characteristics　of　lower　extremity　exoskeleton　robots　from　the　aspects　of　compliant　drive　and　compliant　joint,　and　introduces　the　augmentation,　assistive,　rehabilitation　lower　extremity　exoskeleton　robots.　It　also　prospect　the　future　development　trend　of　lower　extremity　exoskeleton　robots.　Copyright　©　2019　by　Editorial　Office　of　Journal　of　Biomedical　Engineering.

关键词：

Human robot interaction Universal joints Exoskeleton (Robotics)

作者机构：

[ 1 ] [Si, Guoning]School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai; 200093, China
[ 2 ] [Huang, Wanting]School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai; 200093, China
[ 3 ] [Li, Gensheng]School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai; 200093, China
[ 4 ] [Xu, Fei]School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai; 200093, China
[ 5 ] [Chu, Mengqiu]School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai; 200093, China
[ 6 ] [Liu, Jingfang]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing; 100124, China

通讯作者信息：

[si, guoning]school of medical instrument and food engineering, university of shanghai for science and technology, shanghai; 200093, china

电子邮件地址：

gnsi@usst.edu.cn

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