Gait Interaction Design of Lower Limb Rehabilitation Exoskeletons: A Review

Abstract

There is an increasing number of people who moderate senile diseases such as cerebral apoplexy. China will face a deep population aging in the near future. It has broad application prospects and important academic value to develop smart products for the elderly. Lower limb rehabilitation exoskeleton is a smart product with human-computer interaction, which interacts with the wearer's limbs and provides corresponding motion assistance. Through scientific and effective rehabilitation exercise training, the patient's muscle strength can be enhanced, and the transmission path between the brain nerve and the affected limb can be reconstructed. Thus, generating and adjusting the gait according to the degree of loss or weakening of the wearer's lower limb motor function for safe and effective rehabilitation are the frontier and hotspot of the research on lower limb rehabilitation exoskeleton. The research progress of evaluation methods of gait performance, generation methods of gait, control strategies of trajectory and typical rehabilitation applications is reviewed, which deals with differentiated walking style and individualized rehabilitation gait planning caused by lower limb motor dysfunction. Finally, the future work of gait interaction design of lower limb rehabilitation exoskeleton is summarized and presented, and provides a reference for related researchers.