Jiang Chunyu, Xiao Junlong, Wei Haochen, Wang Michael Yu, Chen Chao
Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia.
Sensors (Basel). 2024 Dec 18;24(24):8090. doi: 10.3390/s24248090.
Advancements in science and technology have driven the growing use of robots in daily life, with Portable-Powered Lower Limb Exoskeletons (PPLLEs) emerging as a key innovation. The selection of mechanisms, control strategies, and sensors directly influences the overall performance of the exoskeletons, making it a crucial consideration for research and development. This review examines the current state of PPLLE research, focusing on the aspects of mechanisms, control strategies, and sensors. We discuss the current research status of various technologies, their technological compatibility, and respective benefits comprehensively. Key findings highlight effective designs and strategies, as well as future challenges and opportunities. Finally, we summarize the overall status of PPLLE research and attempt to shed light on the future potential directions of research and development.
科学技术的进步推动了机器人在日常生活中的日益广泛应用，便携式动力下肢外骨骼（PPLLEs）成为一项关键创新。机构、控制策略和传感器的选择直接影响外骨骼的整体性能，这使其成为研发中的关键考量因素。本综述考察了便携式动力下肢外骨骼的研究现状，重点关注机构、控制策略和传感器等方面。我们全面讨论了各种技术的当前研究状况、它们的技术兼容性以及各自的优势。主要研究结果突出了有效的设计和策略，以及未来的挑战和机遇。最后，我们总结了便携式动力下肢外骨骼的研究总体状况，并试图阐明未来研发的潜在方向。
