Lower-limb wearable exoskeleton system to advance assisted mobility research

在过去的十年中，双边下肢（腿）动力外骨骼的机电一体化设计取得了重大进展。这些外部动力机动矫形器主要用于站立和行走，放置在下肢上，允许运动控制受损的用户完成他们自己无法完成的运动。例如，串联弹性致动器的出现促进了紧凑的机械设计，其能够在具有固有弹簧状阻抗的主要下肢关节轴处实现辅助扭矩。此外，结构设计的进步已经降低了功耗，以提供能够利用当前可再充电电池技术进行日常操作的真正便携式设备。

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.