下肢康复机器人研究进展

摘要

下肢康复训练机器人主要分为站立式和坐卧式两种。站立式下肢康复机器人包括3种典型结构，主要采用悬吊式减重，个别采用气囊式减重；坐卧式下肢康复机器人分为坐椅式和卧床式，主要通过座椅或床来减重。本文主要针对两者的结构构型，结合国内外现有的一些产品和研究以及临床应用，从经典产品到如今产品的发展进行综述。%The lower limb rehabilitation training robots were divided into standing robots and sitting robots. Standing lower limb reha-bilitation robots included three kinds of typical structures, which mainly support body weight by suspension, and partially by air bags. Sit-ting lower limb rehabilitation robots were divided into chair and bed types, they support body weight by chairs and beds. This article re-viewed the development of products in the structures of the configuration, combined with some of the existing product and research, as well as the clinical application, .