Department of Mechanical Engineering, Politeknik Sultan Azlan Shah, Behrang, Perak, Malaysia.
Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi, Selangor, Malaysia.
Biomed Tech (Berl). 2024 Jan 31;69(4):327-345. doi: 10.1515/bmt-2022-0262. Print 2024 Aug 27.
Research has shown that rehabilitation lower limb exoskeletons (RLLEs) are effective tools for improving recovery or regaining lower limb function. This device interacts with the limbs of patients. Thus, actuators and power transmission mechanisms are the key factors in determining smooth human‒machine interaction and comfort in physical therapy activities. A multitude of distinct technologies have been proposed. However, we questioned which consideration point in actuator selection and power transmission mechanisms are used for RLLE. A review of the technical characteristics and status of advanced RLLE designs is discussed. We review actuator selection for RLLE devices. Furthermore, the power transmission mechanisms over the years within each of the RLLE devices are presented. The development issues and possible research directions related to actuators and power transmission mechanisms are provided. Most RLLEs are still in the research phase, and only a few have been commercialized. The aim of this paper is to provide researchers with useful information for investigating technological progress and highlight the latest technological choices in RLLE development.
研究表明，康复下肢外骨骼（RLLE）是改善下肢功能恢复或恢复的有效工具。该设备与患者的四肢相互作用。因此，执行器和动力传输机构是确定人机交互顺畅性和物理治疗活动舒适性的关键因素。已经提出了许多不同的技术。但是，我们质疑在 RLLE 中选择执行器和动力传输机构时使用了哪个考虑因素。讨论了先进 RLLE 设计的技术特点和现状的回顾。我们审查了 RLLE 设备的执行器选择。此外，还介绍了多年来每个 RLLE 设备中的动力传输机构。提供了与执行器和动力传输机构相关的发展问题和可能的研究方向。大多数 RLLE 仍处于研究阶段，只有少数已商业化。本文的目的是为研究人员提供有用的信息，以调查技术进展，并强调 RLLE 开发中的最新技术选择。
