The lower extremity exoskeleton robot is a wearable device designed to help people suffering from a walking disorder to regain the power of the legs and joints to achieve standing and walking functions. Compared with traditional robots that include rigid mechanisms, lower extremity exoskeleton robots with compliant characteristics can store and release energy in passive elastic elements while minimizing the reaction force due to impact, so it can improve the safety of human-robot interaction. This paper reviews the compliant characteristics of lower extremity exoskeleton robots from the aspects of compliant drive and compliant joint, and introduces the augmentation, assistive, rehabilitation lower extremity exoskeleton robots. It also prospect the future development trend of lower extremity exoskeleton robots.
下肢外骨骼机器人是旨在帮助患有步行障碍的人重新获得腿部和关节的力量，以实现站立和行走等功能的可穿戴设备。与包含刚性机构的传统机器人相比，具有柔顺特性的下肢外骨骼机器人能在被动式弹性元件中储存和释放能量，同时最大限度地减少由于冲击引起的反作用力，提高人机交互的安全性。本文从驱动柔顺和关节柔顺两方面对下肢外骨骼机器人柔顺特性进行综述，分类介绍增强型、辅助型、康复型下肢外骨骼机器人，并对该领域未来发展趋势进行展望。.
Keywords: compliant characteristic; compliant drive; compliant joint; lower extremity exoskeleton robot.