The Open Automation and Control Systems Journal

2015, 7 : 441-453
Published online 2015 May 29. DOI: 10.2174/1874444301507010441
Publisher ID: TOAUTOCJ-7-441

Review on Lower Extremity Exoskeleton Robot

Na Li , Lei Yan , Hua Qian , Hongfang Wu , Jian Wu and Sen Men
School of Technology, Beijing Forestry University, Box 8, Beijing 100083, China.

ABSTRACT

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 universities 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.

Keywords:

Exoskeleton, lower extremity, wearable robot, trajectory control, human-robot interaction.