Progress and development trends of lower limb exoskeleton rehabilitation robots

Abstract. Currently, as the aging population intensifies, many elderly people are trapped by lower limb dysfunctions caused by diseases such as stroke sequelae, spinal cord injuries, and bone injuries. Research on lower limb exoskeleton robots has made progress both domestically and internationally. Foreign lower limb exoskeleton robot technology is very mature and widely applied; although starting later, domestic development in this field has been rapid. This paper studies the key technologies of lower limb exoskeleton robots from several aspects: the degrees of freedom in human lower limb movement, the cyclic movement of human gait, structural design, driving methods, and interactive control. With the continuous advancement of technology, lower limb exoskeleton robots will become more intelligent and focus more on personalized services and wearing comfort in future development, aiming to bring more convenience and help to disabled individuals, rehabilitation patients, and groups with special needs.