Advances in lower limb exoskeleton rehabilitation robot research

Lower limb exoskeleton rehabilitation robots play an indispensable role in improving rehabilitation efficiency, reducing the burden on healthcare personnel, promoting the development of rehabilitation technologies, and providing objective assessments. They can also adjust training parameters based on the specific conditions of patients, offering personalized rehabilitation p lans. Stroke and its complications lead to lower limb motor dysfunction in patients, and lower limb exoskeleton rehabilitation robots offer an efficient means of rehabilitation training. This paper analyzes the research status of classic exoskeleton rehabilit ation robots both domestically and internationally. It specifically discusses the analysis and discussion of the two-link forward and inverse kinematics model, the advantages and disadvantages of the three major exoskeleton driving methods, and introduces the more classical and fundamental algorithms in exoskeleton robot interaction control. Finally, a summary i s provided along with a prospective outlook and feasibility analysis of this development direction.