[2023-Vol.20-Issue 2]Systematic Review on Wearable Lower Extremity Robotic Exoskeletons for Assisted Locomotion
Post: 2023-03-07 15:49  View:103

Journal of Bionic Engineering (2023) 20:436–469

Systematic Review on Wearable Lower Extremity Robotic Exoskeletons for Assisted Locomotion 

Shuang Qiu1  · Zhongcai Pei1  · Chen Wang1  · Zhiyong Tang1

1 School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

AbstractLower extremity robotic exoskeletons (LEEX) can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction. There are a wide range of application needs and development prospects in the military, industry, medical treatment, consumption and other felds, which has aroused widespread concern in society. This paper attempts to review LEEX technical development. First, the history of LEEX is briefy traced. Second, based on existing research, LEEX is classifed according to auxiliary body parts, structural forms, functions and felds, and typical LEEX prototypes and products are introduced. Then, the latest key technologies are analyzed and summarized, and the research contents, such as bionic structure and driving characteristics, human–robot interaction (HRI) and intentawareness, intelligent control strategy, and evaluation method of power-assisted walking efciency, are described in detail. Finally, existing LEEX problems and challenges are analyzed, a future development trend is proposed, and a multidisciplinary development direction of the key technology is provided. 

Keywords Lower extremity robotic exoskeletons · Bionic robot · Classifcation method · Human–robot interaction · Biomechatronic


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