Research status of lower limb exoskeleton rehabilitation robot_Journal of Biomedical Engineering

Authors：

LI Ming ^1,2 , LI Hui ^1,2 ,  YU Hongliu ^1,2

1. School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P. R. China;
2. Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, P. R. China;

Corresponding author：

Keywords：

Lower extremity exoskeleton robot; Motor dysfunction; Muscle weakness; Spinal cord injury; Stroke

DOI：

10.7507/1001-5515.202211055

Video：

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Lower limb exoskeleton rehabilitation robots are used to improve or restore the walking and movement ability of people with lower limb movement disorders. However, the required functions for patients differ based on various diseases. For example, patients with weak muscle strength require power assistance, patients with spinal cord injuries require motion compensation, patients with gait abnormalities require gait correction, and patients with strokes require neural rehabilitation. To design a more targeted lower limb exoskeleton rehabilitation robot for different diseases, this article summarised and compared existing lower limb exoskeleton rehabilitation robots according to their main functions and the characteristics and rehabilitation needs of various lower limb movement disorders. The correlations between the functions of existing devices and diseases were summarised to provide certain references for the development of new lower limb exoskeleton rehabilitation robots.

Citation： LI Ming, LI Hui, YU Hongliu. Research status of lower limb exoskeleton rehabilitation robot. Journal of Biomedical Engineering, 2024, 41(4): 833-839. doi: 10.7507/1001-5515.202211055 Copy

1.	程洪, 黄瑞, 邱静, 等. 康复机器人及其临床应用综述. 机器人, 2021, 43(5): 606-619.
2.	佀国宁, 黄琬婷, 李根生, 等. 下肢外骨骼机器人柔顺特性的研究进展. 生物医学工程学杂志, 2019, 36(1): 157-163.
3.	魏小东, 孟青云, 喻洪流, 等. 下肢外骨骼机器人研究进展. 中国康复医学杂志, 2019, 34(4): 491-495.
4.	孙茂文, 欧阳小平, 王泽正, 等. 泵控外骨骼机器人行走协同控制策略. 机械工程学报, 2022, 58(18): 159-169.
5.	张琦, 田梦倩, 李伟强, 等. 复式套索人工肌肉驱动的下肢外骨骼的运动控制. 机器人, 2021, 43(2): 214-223.
6.	邓静, 姜文正, 高海波, 等. 外骨骼足端人机接触力测量装置研究. 机械与电子, 2022, 40(9): 65-70.
7.	莫松海, 曹恒, 朱钧, 等. 基于步态状态机的康复型下肢外骨骼控制方法. 中国科技论文, 2018, 13(16): 1889-1895.
8.	曹慧林, 于随然. 下肢康复外骨骼机器人结构拟人设计与运动学分析. 机械设计与研究, 2020, 36(4): 12-17.
9.	Chen Lingxing, Chen Chunjie, Wang Zhuo, et al. A novel lightweight wearable soft exosuit for reducing the metabolic rate and muscle fatigue. Biosensors, 2021, 11(7): 215.
10.	Xue T, Wang Z, Zhang T, et al. Adaptive oscillator-based robust control for flexible hip assistive exoskeleton. IEEE Robot Autom Let, 2019, 4(4): 3318-3323.
11.	Yang H D, Cooper M, Eckert-Erdheim A, et al. A soft exosuit assisting hip abduction for knee adduction moment reduction during walking. IEEE Robot Autom Let, 2022, 7(3): 7439-7446.
12.	雷俊芳, 汤继芹. 下肢康复机器人对脊髓损伤患者步行能力改善的现状及应用. 医学信息, 2022, 35(19): 159-162.
13.	Kim J, Kim Y, Kim S J. Biomechanical task-based gait analysis suggests ReWalk gait resembles crutch gait. Appl Sci, 2022, 12(24): 12574.
14.	Laubscher C A, Goo A, Farris R J, et al. Hybrid impedance-sliding mode switching control of the Indego Explorer lower-limb exoskeleton in able-bodied walking. J Intell Robot Syst, 2022, 104(4): 76.
15.	Strausser K A, Kazerooni H. The development and testing of a human machine interface for a mobile medical exoskeleton// IEEE/RSJ International Conference on Intelligent Robots & Systems. San Francisco: IEEE, 2011: 4911-4916.
16.	Park K W, Choi J, Kong K. Hybrid model control of WalkON suit for precise and robust gait assistance of paraplegics// 2021 IEEE International Conference on Robotics and Automation (ICRA). Xi’an: IEEE, 2021: 10385-10390.
17.	Høyer E, Opheim A, Jørgensen V. Implementing the exoskeleton Ekso GTTM for gait rehabilitation in a stroke unit-feasibility, functional benefits and patient experiences. Disability and rehabilitation. Assist Technol, 2022, 17(4): 473-479.
18.	Koljonen P A, Virk A S, Jeong Y, et al. Outcomes of a multicenter safety and efficacy study of the SuitX phoenix powered exoskeleton for ambulation by patients with spinal cord injury. Front Neurol, 2021, 12: 689751.
19.	Koyama S, Tanabe S, Gotoh T, et al. Wearable power-assist locomotor for gait reconstruction in patients with spinal cord injury: A retrospective study. Front Neurol, 2022, 16: 775724.
20.	Ren Z, Deng C, Zhao K, et al. The development of a high-speed lower-limb robotic exoskeleton. Sci China Inform Sci, 2018, 62(5): 50202.
21.	Kovalenko A, Rodionov A, Kremlev D, et al. Exoskeleton “ExoAtlet” and botulinum toxin therapy in rehabilitation of stroke patients. Toxicon, 2021, 190(S1): 234278699.
22.	Wang Y, Cheng H, Qiu J, et al. The AIDER system and its clinical applications. Sci China Inform Sci, 2021, 64(8): 184201.
23.	Chen B, Zhong C H, Zhao X, et al. Reference joint trajectories generation of CUHK-EXO exoskeleton for system balance in walking assistance. IEEE Access, 2019, 7: 33809-33821.
24.	龙建军, 王玉龙, 王同, 等. 下肢外骨骼康复机器人对偏瘫患者步态参数的影响. 中国康复医学杂志, 2021, 36(9): 1107-1110, 1117.
25.	Sung J, Choi S, Kim H, et al. Feasibility of rehabilitation training with a newly developed, portable, gait assistive robot for balance function in hemiplegic patients. Ann Rehabil Med, 2017, 41(2): 178-187.
26.	Zhao G, Sharbafi M, Vlutters M, et al. Template model inspired leg force feedback based control can assist human walking// 2017 International Conference on Rehabilitation Robotics (ICORR). London: IEEE, 2017: 473-478.
27.	Iizuka M, Ikeda Y. Regulation and innovation under the 4th industrial revolution: The case of a healthcare robot, HAL by Cyberdyne. Technovation, 2021, 108: 102335.
28.	Ortiz M, Ferrero L, Iáñez E, et al. Sensory integration in human movement: A new brain-machine interface based on gamma band and attention level for controlling a lower-limb exoskeleton. Front Bioeng Biotechnol, 2020, 8: 735.
29.	Alashram A R, Annino G, Padua E. Robot-assisted gait training in individuals with spinal cord injury: A systematic review for the clinical effectiveness of Lokomat. J Clin Neurosci, 2021, 91: 260-269.
30.	庞洪波, 李励, 王艳武. 脊髓损伤患者步行功能康复设备的应用进展. 黑龙江医学, 2022, 46(24): 3.
31.	Chen L, Chen C, Ye X, et al. A portable waist-loaded soft exosuit for hip flexion assistance with running. Micromachines, 2022, 13(2): 157.
32.	Nam Y G, Lee J W, Park J W, et al. Effects of electromechanical exoskeleton-assisted gait training on walking ability of stroke patients: a randomized controlled trial. Arch Phys Med Rehabil, 2019, 100(1): 26-31.
33.	Jayaraman A, Obrien M K, Madhavan S, et al. Stride management assist exoskeleton vs functional gait training in stroke: A randomized trial. Neurology, 2019, 92(3): e263-e273.
34.	Tefertiller C, Hays K, Jones J, et al. Initial outcomes from a multicenter study utilizing the indego powered exoskeleton in spinal cord injury. Top Spinal Cord Inj Rehabil, 2018, 24(1): 78-85.
35.	Guanziroli E, Cazzaniga M, Colombo L, et al. Assistive powered exoskeleton for complete spinal cord injury: correlations between walking ability and exoskeleton control. Eur J Phys Rehabil Med, 2019, 55(2): 209-216.
36.	向小娜, 宗慧燕, 何红晨. 下肢外骨骼康复机器人对脊髓损伤患者步行能力改善的研究进展. 中国康复医学杂志, 2020, 35(1): 119-122.
37.	Tays G, Bao S, Javidialsaadi M, et al. Consolidation of use- dependent motor memories induced by passive move-ment training. Neurosci Lett, 2020, 732: 135080.
38.	陈芳, 黄俊豪, 吴文杰, 等. 下肢外骨骼机器人在脑卒中患者功能康复中应用进展. 中国康复, 2023, 38(4): 243-247.

1. 程洪, 黄瑞, 邱静, 等. 康复机器人及其临床应用综述. 机器人, 2021, 43(5): 606-619.
2. 佀国宁, 黄琬婷, 李根生, 等. 下肢外骨骼机器人柔顺特性的研究进展. 生物医学工程学杂志, 2019, 36(1): 157-163.
3. 魏小东, 孟青云, 喻洪流, 等. 下肢外骨骼机器人研究进展. 中国康复医学杂志, 2019, 34(4): 491-495.
4. 孙茂文, 欧阳小平, 王泽正, 等. 泵控外骨骼机器人行走协同控制策略. 机械工程学报, 2022, 58(18): 159-169.
5. 张琦, 田梦倩, 李伟强, 等. 复式套索人工肌肉驱动的下肢外骨骼的运动控制. 机器人, 2021, 43(2): 214-223.
6. 邓静, 姜文正, 高海波, 等. 外骨骼足端人机接触力测量装置研究. 机械与电子, 2022, 40(9): 65-70.
7. 莫松海, 曹恒, 朱钧, 等. 基于步态状态机的康复型下肢外骨骼控制方法. 中国科技论文, 2018, 13(16): 1889-1895.
8. 曹慧林, 于随然. 下肢康复外骨骼机器人结构拟人设计与运动学分析. 机械设计与研究, 2020, 36(4): 12-17.
9. Chen Lingxing, Chen Chunjie, Wang Zhuo, et al. A novel lightweight wearable soft exosuit for reducing the metabolic rate and muscle fatigue. Biosensors, 2021, 11(7): 215.
10. Xue T, Wang Z, Zhang T, et al. Adaptive oscillator-based robust control for flexible hip assistive exoskeleton. IEEE Robot Autom Let, 2019, 4(4): 3318-3323.
11. Yang H D, Cooper M, Eckert-Erdheim A, et al. A soft exosuit assisting hip abduction for knee adduction moment reduction during walking. IEEE Robot Autom Let, 2022, 7(3): 7439-7446.
12. 雷俊芳, 汤继芹. 下肢康复机器人对脊髓损伤患者步行能力改善的现状及应用. 医学信息, 2022, 35(19): 159-162.
13. Kim J, Kim Y, Kim S J. Biomechanical task-based gait analysis suggests ReWalk gait resembles crutch gait. Appl Sci, 2022, 12(24): 12574.
14. Laubscher C A, Goo A, Farris R J, et al. Hybrid impedance-sliding mode switching control of the Indego Explorer lower-limb exoskeleton in able-bodied walking. J Intell Robot Syst, 2022, 104(4): 76.
15. Strausser K A, Kazerooni H. The development and testing of a human machine interface for a mobile medical exoskeleton// IEEE/RSJ International Conference on Intelligent Robots & Systems. San Francisco: IEEE, 2011: 4911-4916.
16. Park K W, Choi J, Kong K. Hybrid model control of WalkON suit for precise and robust gait assistance of paraplegics// 2021 IEEE International Conference on Robotics and Automation (ICRA). Xi’an: IEEE, 2021: 10385-10390.
17. Høyer E, Opheim A, Jørgensen V. Implementing the exoskeleton Ekso GTTM for gait rehabilitation in a stroke unit-feasibility, functional benefits and patient experiences. Disability and rehabilitation. Assist Technol, 2022, 17(4): 473-479.
18. Koljonen P A, Virk A S, Jeong Y, et al. Outcomes of a multicenter safety and efficacy study of the SuitX phoenix powered exoskeleton for ambulation by patients with spinal cord injury. Front Neurol, 2021, 12: 689751.
19. Koyama S, Tanabe S, Gotoh T, et al. Wearable power-assist locomotor for gait reconstruction in patients with spinal cord injury: A retrospective study. Front Neurol, 2022, 16: 775724.
20. Ren Z, Deng C, Zhao K, et al. The development of a high-speed lower-limb robotic exoskeleton. Sci China Inform Sci, 2018, 62(5): 50202.
21. Kovalenko A, Rodionov A, Kremlev D, et al. Exoskeleton “ExoAtlet” and botulinum toxin therapy in rehabilitation of stroke patients. Toxicon, 2021, 190(S1): 234278699.
22. Wang Y, Cheng H, Qiu J, et al. The AIDER system and its clinical applications. Sci China Inform Sci, 2021, 64(8): 184201.
23. Chen B, Zhong C H, Zhao X, et al. Reference joint trajectories generation of CUHK-EXO exoskeleton for system balance in walking assistance. IEEE Access, 2019, 7: 33809-33821.
24. 龙建军, 王玉龙, 王同, 等. 下肢外骨骼康复机器人对偏瘫患者步态参数的影响. 中国康复医学杂志, 2021, 36(9): 1107-1110, 1117.
25. Sung J, Choi S, Kim H, et al. Feasibility of rehabilitation training with a newly developed, portable, gait assistive robot for balance function in hemiplegic patients. Ann Rehabil Med, 2017, 41(2): 178-187.
26. Zhao G, Sharbafi M, Vlutters M, et al. Template model inspired leg force feedback based control can assist human walking// 2017 International Conference on Rehabilitation Robotics (ICORR). London: IEEE, 2017: 473-478.
27. Iizuka M, Ikeda Y. Regulation and innovation under the 4th industrial revolution: The case of a healthcare robot, HAL by Cyberdyne. Technovation, 2021, 108: 102335.
28. Ortiz M, Ferrero L, Iáñez E, et al. Sensory integration in human movement: A new brain-machine interface based on gamma band and attention level for controlling a lower-limb exoskeleton. Front Bioeng Biotechnol, 2020, 8: 735.
29. Alashram A R, Annino G, Padua E. Robot-assisted gait training in individuals with spinal cord injury: A systematic review for the clinical effectiveness of Lokomat. J Clin Neurosci, 2021, 91: 260-269.
30. 庞洪波, 李励, 王艳武. 脊髓损伤患者步行功能康复设备的应用进展. 黑龙江医学, 2022, 46(24): 3.
31. Chen L, Chen C, Ye X, et al. A portable waist-loaded soft exosuit for hip flexion assistance with running. Micromachines, 2022, 13(2): 157.
32. Nam Y G, Lee J W, Park J W, et al. Effects of electromechanical exoskeleton-assisted gait training on walking ability of stroke patients: a randomized controlled trial. Arch Phys Med Rehabil, 2019, 100(1): 26-31.
33. Jayaraman A, Obrien M K, Madhavan S, et al. Stride management assist exoskeleton vs functional gait training in stroke: A randomized trial. Neurology, 2019, 92(3): e263-e273.
34. Tefertiller C, Hays K, Jones J, et al. Initial outcomes from a multicenter study utilizing the indego powered exoskeleton in spinal cord injury. Top Spinal Cord Inj Rehabil, 2018, 24(1): 78-85.
35. Guanziroli E, Cazzaniga M, Colombo L, et al. Assistive powered exoskeleton for complete spinal cord injury: correlations between walking ability and exoskeleton control. Eur J Phys Rehabil Med, 2019, 55(2): 209-216.
36. 向小娜, 宗慧燕, 何红晨. 下肢外骨骼康复机器人对脊髓损伤患者步行能力改善的研究进展. 中国康复医学杂志, 2020, 35(1): 119-122.
37. Tays G, Bao S, Javidialsaadi M, et al. Consolidation of use- dependent motor memories induced by passive move-ment training. Neurosci Lett, 2020, 732: 135080.
38. 陈芳, 黄俊豪, 吴文杰, 等. 下肢外骨骼机器人在脑卒中患者功能康复中应用进展. 中国康复, 2023, 38(4): 243-247.

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Research status of lower limb exoskeleton rehabilitation robot

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