Lower-limb wearable exoskeleton system to advance assisted mobility research

在过去的十年中，双下肢(腿)动力外骨骼的机电一体化设计取得了重大进展。这些外部动力的电动矫形器主要放置在腿部，用于站立和行走，允许运动控制有问题的用户完成他们无法独立完成的动作。例如，串联弹性执行器的出现促进了紧凑的机械设计，能够以固有的弹簧式阻抗在主要的下肢关节轴处实现辅助扭矩。此外，结构设计的进步降低了功耗，以提供真正的便携式设备，能够使用当前的充电电池技术进行日常操作。

Over the past decade, there have been major advancements in mechatronics design of bilateral lower-limb (leg) powered exoskeletons. Placed over the lower limbs primarily for standing and walking, these externally-powered motorized orthoses allow users with compromised motor control to complete movements they could not complete on their own. For example, the emergence of serial elastic actuators has facilitated compact mechanical designs capable of effecting assistive torques at the major lower limb joint axes with inherently spring-like impedance. Furthermore, advances in structural design have reduced power consumption to afford a true portable device capable of daily operation with current rechargeable battery technology.