This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accuratel...This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.展开更多
With the acceleration of the global aging process and the increase of cardiovascular ancerebrovascular diseases,more and more patients are paralyzed due to accidents,so theexoskeleton robot began to appear in people&#...With the acceleration of the global aging process and the increase of cardiovascular ancerebrovascular diseases,more and more patients are paralyzed due to accidents,so theexoskeleton robot began to appear in people's sight,and the lower limb exoskeleton robot withrehabilitation training is also favored by more and more people.In this paper,the structural designand analysis of the lower limb exoskeleton robot are carried out in view of the patients'expectation ofnormal walking.First,gait analysis and structural design of lower limb exoskeleton robot.Based onthe analysis of the walking gait of normal people,the freedom of the three key joints of the lower limbexoskeleton robot hip joint,knee joint and ankle joint is determined.at the same time,according tothe structuralcharacteristics of each joint,the three key joints are modeled respectively,and theoverall model assembly of the lower limb exoskeleton robot is completed.Secondly,the kinematicsanalysis of the lower limb exoskeleton robot was carried out to obtain the relationship between thelinear displacement,linear speed and acceleration of each joint,so as to ensure the coordination ofthe model with the human lower limb movement.Thirdly,the static analysis of typical gait of hipjoint,knee joint and ankle joint is carried out to verify the safety of the design model under thepremise of ensuring the structural strength requirements.Finally,the parts of the model were 3Dprinted,and the rationality of the design was further verified in the process of assembling the model.展开更多
Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse ...Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.展开更多
Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additio...Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additional power to humans,enhance the function of the human body,and help the wearer to bear weight that is previously unbearable.At the same time,employing reasonable structure design and passive energy storage can also assist in specific actions.First,this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad,and analyzes several typical prototypes in detail.Then,the key technologies such as structure design,driving mode,sensing technology,control method,energy management,and human-machine coupling are summarized,and some common design methods of the exoskeleton robot are summarized and compared.Finally,the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized,and the prospect of future development trend has been analyzed.展开更多
Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs a...Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.展开更多
A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot....A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model isbuilt, and its control system based on PWM is developed. The emulations in Matlab and the results ofexperiments prove that this methodology is effective.展开更多
To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic state.However,due to ...To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic state.However,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance phase.Inspired by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named PALExo.Under certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human movement.With the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are obtained.Impedance control is introduced to increase the comfort of the wearer.The impedance parameters as well as the CPG parameters are tuned in real time based on feedback.The experiments were conducted with PALExo.The results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.展开更多
Modern military drills and conventional training,performed under all-weather conditions,impose exacting challenges on soldiers.This has motivated the development of exoskeleton robot systems,leveraging advanced techno...Modern military drills and conventional training,performed under all-weather conditions,impose exacting challenges on soldiers.This has motivated the development of exoskeleton robot systems,leveraging advanced technology and material innovation.These systems have demonstrated their effectiveness at assisting movement,enhancing protection,promoting rehabilitation,and providing comprehensive support to soldiers.This groundbreaking technology not only reduces a soldier's physical exertion significantly but also effectively diminishes the risk of injury during training,infusing new vitality into the enhancement of military capabilities.Different types of exoskeleton robots differ in their focus.Lower-limb exoskeleton robots are designed to increase the soldier's endurance.Upper-limb exoskeleton robots enhance strength.This paper provides a detailed explanation of the key technologies of various types of exoskeleton robots,covering theirmechanical design,electromechan-ical transmission structures,sensors,and actuation methods.It also explores the diverse application scenarios of exoskeleton robots in the military field,systematically introducing their development trajectory,milestone achievements,and the cutting-edge technologies currently employed,as well as the challenges faced.The conclusion offers a prospective discussion of future development pathways,anticipating the broad prospects for exoskeleton robots in the military domain.展开更多
Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exo...Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.展开更多
Accurate acceleration acquisition is a critical issue in the robotic exoskeleton system,but it is difficult to directly obtain the acceleration via the existing sensing systems.The existing algorithm-based acceleratio...Accurate acceleration acquisition is a critical issue in the robotic exoskeleton system,but it is difficult to directly obtain the acceleration via the existing sensing systems.The existing algorithm-based acceleration acquisition methods put more attention on finite-time convergence and disturbance suppression but ignore the error constraint and initial state irrelevant techniques.To this end,a novel radical bias function neural network(RBFNN)based fixed-time reconstruction scheme with error constraints is designed to realize high-performance acceleration estimation.In this scheme,a novel exponential-type barrier Lyapunov function is proposed to handle the error constraints.It also provides a unified and concise Lyapunov stability-proof template for constrained and non-constrained systems.Moreover,a fractional power sliding mode control law is designed to realize fixed-time convergence,where the convergence time is irrelevant to initial states or external disturbance,and depends only on the chosen parameters.To further enhance observer robustness,an RBFNN with the adaptive weight matrix is proposed to approximate and attenuate the completely unknown disturbances.Numerical simulation and human sub ject experimental results validate the unique properties and practical robustness.展开更多
The realisation of a model‐based controller for a robot with a higher degree of freedom requires a substantial amount of computational power.A high‐speed CPU is required to maintain a higher sampling rate.Multicore ...The realisation of a model‐based controller for a robot with a higher degree of freedom requires a substantial amount of computational power.A high‐speed CPU is required to maintain a higher sampling rate.Multicore processors cannot boost the performance or reduce the execution time as the programs are sequentially structured.The neural network is a great tool to convert a sequentially structured program to an equivalent parallel architecture program.In this study,a radial basis function(RBF)neural network is developed for controlling 7 degrees of freedom of the human lower extremity exoskel-eton robot.A realistic friction model is used for modelling joint friction.High trajectory tracking accuracies have been obtained.Evidence of computational efficiency has been observed.The stability analysis of the developed controller is presented.Analysis of variance is used to assess the controller's resilience to parameter variation.To show the effectiveness of the developed controller,a comparative study was performe between the developed RBF network‐based controller and Sliding Mode Controller,Computed Tor-que Controller,Adaptive controller,Linear Quadratic Regulator and Model Reference Computed Torque Controller.展开更多
As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem o...As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.展开更多
文摘This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.
基金College Student Innovation andEntrepreneurship Project(Grant No.:S202414435026)ingkou Institute of Technology campus level research project——Development of food additive supercritical extraction equipment and fluid transmission systemresearch(Grant No.HX202427).
文摘With the acceleration of the global aging process and the increase of cardiovascular ancerebrovascular diseases,more and more patients are paralyzed due to accidents,so theexoskeleton robot began to appear in people's sight,and the lower limb exoskeleton robot withrehabilitation training is also favored by more and more people.In this paper,the structural designand analysis of the lower limb exoskeleton robot are carried out in view of the patients'expectation ofnormal walking.First,gait analysis and structural design of lower limb exoskeleton robot.Based onthe analysis of the walking gait of normal people,the freedom of the three key joints of the lower limbexoskeleton robot hip joint,knee joint and ankle joint is determined.at the same time,according tothe structuralcharacteristics of each joint,the three key joints are modeled respectively,and theoverall model assembly of the lower limb exoskeleton robot is completed.Secondly,the kinematicsanalysis of the lower limb exoskeleton robot was carried out to obtain the relationship between thelinear displacement,linear speed and acceleration of each joint,so as to ensure the coordination ofthe model with the human lower limb movement.Thirdly,the static analysis of typical gait of hipjoint,knee joint and ankle joint is carried out to verify the safety of the design model under thepremise of ensuring the structural strength requirements.Finally,the parts of the model were 3Dprinted,and the rationality of the design was further verified in the process of assembling the model.
基金supported by the China Postdoctoral Science Foundation(No.2020M672823)National Natural Science Foundation of China National Natural Science Foundation of China(No.52305072,U2013602)+3 种基金Natural Science Foundation of Hebei Province of China(No.E2022203095)Shenzhen Science and Technology Program(No.JSGG20201102152602007)Shenzhen Science and Technology Research and Development Foundation(No.JCYJ20190813171009236)Basic Scientific Research of Technology(No.JCKY2020603C009).
文摘Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.
基金the National Natural Science Foundation of China(No.52075264)。
文摘Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials,electronics,control,robotics,and many other fields.The system can use external energy to provide additional power to humans,enhance the function of the human body,and help the wearer to bear weight that is previously unbearable.At the same time,employing reasonable structure design and passive energy storage can also assist in specific actions.First,this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad,and analyzes several typical prototypes in detail.Then,the key technologies such as structure design,driving mode,sensing technology,control method,energy management,and human-machine coupling are summarized,and some common design methods of the exoskeleton robot are summarized and compared.Finally,the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized,and the prospect of future development trend has been analyzed.
基金the National Basic Research Program of China(Grant No.2016YFC0802700)the National Natural Science Foundation of China(Grant No.50975010,Grant No.51075017).
文摘Lower extremity robotic exoskeletons(LEEX)can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction.There are a wide range of application needs and development prospects in the military,industry,medical treatment,consumption and other felds,which has aroused widespread concern in society.This paper attempts to review LEEX technical development.First,the history of LEEX is briefy traced.Second,based on existing research,LEEX is classifed according to auxiliary body parts,structural forms,functions and felds,and typical LEEX prototypes and products are introduced.Then,the latest key technologies are analyzed and summarized,and the research contents,such as bionic structure and driving characteristics,human–robot interaction(HRI)and intentawareness,intelligent control strategy,and evaluation method of power-assisted walking efciency,are described in detail.Finally,existing LEEX problems and challenges are analyzed,a future development trend is proposed,and a multidisciplinary development direction of the key technology is provided.
基金This project is supported by National Natural Science Foundation of China (No.60205006) and International Cooperation Foundation (Germany).
文摘A novel methodology for a walk-assisting balance system of the exoskeleton robot for dis-abled people is presented. The experiment on the walk-assisting balance system is implemented using amini-type ropewalker robot. The mechanism of the ropewalker robot is designed, its dynamic model isbuilt, and its control system based on PWM is developed. The emulations in Matlab and the results ofexperiments prove that this methodology is effective.
基金supported by the National Key R&D Program of China(Grant No.2018YFB1305400)the NSFC Shenzhen Robotics Research Center Project(U2013207)。
文摘To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic state.However,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance phase.Inspired by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named PALExo.Under certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human movement.With the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are obtained.Impedance control is introduced to increase the comfort of the wearer.The impedance parameters as well as the CPG parameters are tuned in real time based on feedback.The experiments were conducted with PALExo.The results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.
基金supported by the Natural Science Foundation of China(52405016)the Postdoctoral Fellowship Program of CPSF(GZC20230660)+1 种基金the Natural Science Foundation of Hebei Province,China(A2023202049)the S&T Program of Hebei(24464401D).
文摘Modern military drills and conventional training,performed under all-weather conditions,impose exacting challenges on soldiers.This has motivated the development of exoskeleton robot systems,leveraging advanced technology and material innovation.These systems have demonstrated their effectiveness at assisting movement,enhancing protection,promoting rehabilitation,and providing comprehensive support to soldiers.This groundbreaking technology not only reduces a soldier's physical exertion significantly but also effectively diminishes the risk of injury during training,infusing new vitality into the enhancement of military capabilities.Different types of exoskeleton robots differ in their focus.Lower-limb exoskeleton robots are designed to increase the soldier's endurance.Upper-limb exoskeleton robots enhance strength.This paper provides a detailed explanation of the key technologies of various types of exoskeleton robots,covering theirmechanical design,electromechan-ical transmission structures,sensors,and actuation methods.It also explores the diverse application scenarios of exoskeleton robots in the military field,systematically introducing their development trajectory,milestone achievements,and the cutting-edge technologies currently employed,as well as the challenges faced.The conclusion offers a prospective discussion of future development pathways,anticipating the broad prospects for exoskeleton robots in the military domain.
基金the National Key R&D Program of China(Grant No.2021YFB3201600).
文摘Although traditional position-controlled industrial robots can be competent for most assembly tasks,they cannot complete complex tasks that frequently interact with the external environment.The current research on exoskeleton robots also has problems such as excessive inertia of exoskeleton robots,poor system integration and difficult human–computer interaction control.To solve these problems,this paper independently develops a tendon driving robotic system composed of a tendon driving robotic arm and an upper limb exoskeleton,and studies its control technology.First,the robot system is selected,configured,and constructed.Second,the kinematics of the robot is analyzed,and then the dynamics are studied,and the parameter identification experiment of single degree of freedom is completed.Finally,the research on zero-force control and impedance control of the robot has effectively improved the robot’s human–machine integration ability,ensured the flexibility and compliance in the process of human–computer interaction.The compliant control problem expands the usage scenarios and application scope of robots and contributes to the realization of complex operations of this group of robots in unstructured environments.
基金Project supported by the Move Robotics Technology Co.,Ltd.the National Natural Science Foundation of China(No.51705163)。
文摘Accurate acceleration acquisition is a critical issue in the robotic exoskeleton system,but it is difficult to directly obtain the acceleration via the existing sensing systems.The existing algorithm-based acceleration acquisition methods put more attention on finite-time convergence and disturbance suppression but ignore the error constraint and initial state irrelevant techniques.To this end,a novel radical bias function neural network(RBFNN)based fixed-time reconstruction scheme with error constraints is designed to realize high-performance acceleration estimation.In this scheme,a novel exponential-type barrier Lyapunov function is proposed to handle the error constraints.It also provides a unified and concise Lyapunov stability-proof template for constrained and non-constrained systems.Moreover,a fractional power sliding mode control law is designed to realize fixed-time convergence,where the convergence time is irrelevant to initial states or external disturbance,and depends only on the chosen parameters.To further enhance observer robustness,an RBFNN with the adaptive weight matrix is proposed to approximate and attenuate the completely unknown disturbances.Numerical simulation and human sub ject experimental results validate the unique properties and practical robustness.
文摘The realisation of a model‐based controller for a robot with a higher degree of freedom requires a substantial amount of computational power.A high‐speed CPU is required to maintain a higher sampling rate.Multicore processors cannot boost the performance or reduce the execution time as the programs are sequentially structured.The neural network is a great tool to convert a sequentially structured program to an equivalent parallel architecture program.In this study,a radial basis function(RBF)neural network is developed for controlling 7 degrees of freedom of the human lower extremity exoskel-eton robot.A realistic friction model is used for modelling joint friction.High trajectory tracking accuracies have been obtained.Evidence of computational efficiency has been observed.The stability analysis of the developed controller is presented.Analysis of variance is used to assess the controller's resilience to parameter variation.To show the effectiveness of the developed controller,a comparative study was performe between the developed RBF network‐based controller and Sliding Mode Controller,Computed Tor-que Controller,Adaptive controller,Linear Quadratic Regulator and Model Reference Computed Torque Controller.
基金the National Natural Science Foundation of China(Grant Nos.91848104,91748201,and 52105004)。
文摘As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.
