As an assistive device to restore lower limb athletic ability, human lower limb rehabilitation robots are becoming increasingly important in the field of rehabilitation and clinical applications. With the advancement of science and technology, both domestic and foreign research in this field has been developed. This study provides a detailed overview of the development of lower limb rehabilitation robots and reviews the current status of clinical applications, with a focus on mechanism research, from the perspectives of degrees of freedom, workspace, singularity, gait simulation, kinematic simulation and human-robot interaction, etc. The results show that domestic research on lower limb rehabilitation robots focus on the design and optimization of the mechanism configuration, while foreign research focus on the improvement and innovation of the control system and training mode based on human-computer interaction. Finally, the current state of research is combined with an outlook on future trends.
人体下肢康复机器人作为一种恢复下肢运动能力的辅助设备，在康复领域和临床应用上的作用日益显著。随着科技的进步，国内外在该领域均有较大的发展，本研究对下肢康复机器人的发展脉络进行了较为细致地梳理，对临床应用的现状进行了综述，以机构研究为重点，从自由度，工作空间，奇异性，步态模拟，运动学仿真及人机交互等角度对其进行分析辨识，结果表明，国内对下肢康复机器人的研究重点在机构构型的设计与优化，国外的研究重点则是基于人机交互的控制系统与训练模式的提升与创新。最后结合研究现状对未来的发展趋势进行了展望。.
Keywords: gait; human lower limb; human-robot interaction; mechanism; rehabilitation robot.