Zhang Xue, Yue Zan, Wang Jing
School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
Behav Neurol. 2017;2017:3731802. doi: 10.1155/2017/3731802. Epub 2017 Jun 8.
With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots.
随着老年人数量的增加，中风已成为一种常见疾病，常常导致运动功能障碍甚至永久性残疾。下肢康复机器人可以帮助患者进行合理有效的训练，以改善瘫痪肢体的运动功能。本文回顾了过去几十年下肢康复机器人的发展情况。具体而言，我们对综述文献中下肢康复机器人的驱动模式、训练范式和控制策略进行了分类、比较和设计概述。还简要介绍了下肢康复机器人的步态检测技术。最后，我们讨论了下肢康复机器人的未来发展方向。
