Current researches of gait analysis on human lower extremity exoskeleton robotic device

摘要

Exoskeleton robotic device is a kind of robot that combines the intelligence of human with the mechanical power of machine, which can not only provide protection and support for operators but also accomplish certain functions and missions under the control of operators. In this paper, relative key factors of lower extremity exoskeleton robotic device techniques are introduced briefly such as the joints and the range of motion (ROM) which the lower extremity exoskeleton should be equipped, the normal gait analysis which is the basis of gait control of the exoskeleton robot, and then the major walking control methods and gait stability control methods for lower extremity exoskeleton robotic device which are discussed in detail.