人体下肢外骨骼机器人的发展及关键技术分析

下肢外骨骼机器人具有增强人体机能和辅助下肢康复训练的功能，在军事和医疗领域具有很好的发展前景，逐渐成为机器人领域的研究热点。本文分别介绍了增强人体机能的下肢外骨骼机器人和医疗下肢外骨骼机器人的国内外最新研究现状，概括并分析了与之相关的关键技术，探讨了下肢外骨骼机器人的今后发展方向。

An overview of the research on the human lower extremity exoskeletons and its key technological analysis

The human lower extremity exoskeleton is used to describe a device that augments the performance of an able-bodied wearer. The term ＂active orthosis＂ is typically used to describe a device that is used to increase the ambulatory ability of a person suffering from a leg pathology. There are widely applications and broad development perspectives in the military and the medical field. The lower extremity exoskeletons researched as a hotspot in robot field rapidly. In this paper, the state-of-the-art of lower limb exoskeletons and medical exoskeleton are reviewed and discussed. Besides, the key technology and future work of lower extremity exoskeletons and active orthoses are presented as well.