The Advanced Control Technologies of Lower Limb Exoskeleton Rehabilitation Robots
DOI:
https://doi.org/10.54097/70v4kf51Keywords:
Advanced control technologies, lower limb exoskeleton rehabilitation robots, human gait.Abstract
The lower limb exoskeleton rehabilitation robots, a common medical device, are designed to treat people with lower limb disorders, have been widely deployed across the medical sector. In this review, the human gait is analyzed initially since this is the foundation of the lower limb exoskeleton rehabilitation robots research. Through this analysis, the clear relationship is illustrated between the magnitude and direction of support force provided by the lower limb exoskeleton rehabilitation robot to each joint and the control technologies. Then the following discussions will focus on the two advanced control technologies, which are the key to the lower limb exoskeleton rehabilitation robots, called position control and impedance control, respectively. These two control technologies are currently applied in multiple fields, which are an integral part of modern life, and the results of this study are promising for related future research on lower limb exoskeleton rehabilitation robots. This review further provides a theoretical framework for optimizing control strategies and enhancing human–robot interaction efficiency in lower limb rehabilitation systems.
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