Current Status of Research and Critical Technologies for Lower Limbassisted Exoskeleton Robots

Background: Lower limb-assisted exoskeleton robots have gained wide attention today because of their practicality, complete functions, and advanced technology. Objective: By analyzing the current research status and key technology classification of lower limb-assisted exoskeleton robots and thinking about the future development direction of lower limb-assisted exoskeleton robots, the feasibility of future development is proposed to provide a reference for the readers. Methods: This paper systematically describes the classification and development history of lower limb-assisted exoskeleton robots, introduces the working principles of various types of lower limb-assisted exoskeleton robots, summarizes the current research status of lower limb-assisted exoskeleton robots through a study of patents and journals, analyzes the critical technologies of active/passive lower limb-assisted exoskeleton robots, and outlooks their future development direction. Results: Through the research and analysis of active and passive exoskeleton robots, both of them have their shortcomings to be improved. Although exoskeleton robots at this stage have been able to be applied, there are still many problems such as insufficient endurance and poor structural flexibility. Conclusion: Finally, based on the analysis and comparison of the current situation and key technologies of active/passive lower limb-assisted exoskeleton robots, the future development trend of lower limb-assisted exoskeleton robots is predicted, and it is believed that the ultimate development trend is the exoskeleton robots with the combination of rigid and flexible structure and active-passive assistance mode.