Review on Lower Extremity Exoskeleton Robot

摘要

The lower extremity exoskeleton robots (LEERs) emerged in 1960s, which can enhance the human walking function, they have been increasingly applied in many fields. This paper will introduce the application of LEERs, the structure of the mechanism, the actuators of the robots, and composition of the control system designed by various univer- sities and research institutes in the last 5 years. Research focuses on the robots are summarized as well to show the main difficulties during the development of the LEERs. This review will provide an essential foundation for the development of the LEERs and offer a meaningful reference for the study of anthropomorphic robots.