上海交通大学学报（医学版）

上海交通大学学报（医学版） >

2022 , Vol. 42 >Issue 2: 241 - 246

DOI: https://doi.org/10.3969/j.issn.1674-8115.2022.02.017

综述

下肢外骨骼康复机器人的研究进展及发展趋势

  • 韩稷钰 ,
  • 王衍鸿 ,
  • 万大千
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  • 同济大学附属同济医院骨关节科，上海 200065
韩稷钰 (1993—)，男，住院医师，硕士；电子信箱：hanjiyudoctor@163.com；
王衍鸿（1991—），男，住院医师，硕士；电子信箱：wyh85892892@qq.com
。*为共同第一作者。
万大千，电子信箱：wdqwdq1986@126.com。

收稿日期: 2021-09-03

  网络出版日期: 2022-03-17

基金资助

中央高校基本科研业务费专项资金资助(22120210569);上海同济医院国家自然科学基金培育项目(TJ2025)

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Research progress and development trend of lower extremity exoskeleton rehabilitation robot

  • Jiyu HAN ,
  • Yanhong WANG ,
  • Daqian WAN
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  • Department of Orthopaedics and Joint, Tongji Hospital Affiliated to Tongji University, Shanghai 200065, China
WAN Daqian, E-mail: wdqwdq1986@126.com.

Received date: 2021-09-03

  Online published: 2022-03-17

Supported by

Fundamental Research Funds for the Central Universities(22120210569);Fostering Project of the National Natural Science Foundation of China in Shanghai Tongji Hospital(TJ2025)

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摘要

各种原因导致的下肢运动功能障碍是当今世界面临的重要公共卫生问题。下肢外骨骼康复机器人是一种新型的可穿戴仿生装置，主要应用于实现下肢运动功能障碍患者的站立和行走，是目前康复医学的研究热点。回顾下肢外骨骼康复机器人的发展历史，该研究领域近些年已经取得了一些突破和发展。未来如果能攻克其便携性、智能化和模块化等技术问题，将使下肢功能障碍患者得到最大化康复成为可能。该文对可穿戴下肢外骨骼康复机器人的关键技术和临床应用进行全面综述，进一步对该领域的研发提出新的展望。

关键词： 外骨骼机器人; 下肢功能障碍; 脑卒中; 脊髓损伤; 康复训练; 人机交互; 智能化; 模块化

本文引用格式

韩稷钰 , 王衍鸿 , 万大千 . 下肢外骨骼康复机器人的研究进展及发展趋势[J]. 上海交通大学学报（医学版）, 2022 , 42(2) : 241 -246 . DOI: 10.3969/j.issn.1674-8115.2022.02.017

Abstract

Lower limb motor dysfunction caused by various causes is an important public health problem in the world today. Lower extremity exoskeleton rehabilitation robot is a new type of wearable bionic device, which is mainly used to realize the standing and walking of patients with lower extremity motor dysfunction. It is a hot research topic in rehabilitation medicine at present. By reviewing the history of lower extremity exoskeleton rehabilitation robot, some breakthroughs and developments are found to have been made in this field in recent years. In the future, if we can overcome the technical problems such as portability, intelligence and modularization, it will be possible to maximize the recovery of patients with lower limb dysfunction. In this paper, the key technologies and clinical applications of wearable lower extremity exoskeleton rehabilitation robot are reviewed comprehensively, and new prospects for the research and development in this field are proposed.

Key words： exoskeleton robot; lower limb dysfunction; stroke; spinal cord injury; rehabilitation training; man-machine interaction; intelligent; modular

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