Abstract
Stroke is characterized by a high incidence rate, and walking is one of the essential human functions. Lower limb rehabilitation robots can offer safe and effective walking training to patients with walking impairments caused by conditions such as neural injuries, aiding in their recovery or assisting in walking. For the needs of patients themselves, restoring their physical state and motor function as much as possible is the primary purpose of rehabilitation, and rehabilitation efficiency is an important factor affecting the quality of life of patients after surgery. Research on exoskeleton robots varies both domestically and internationally, each with its own unique characteristics and features. This paper outlines the design of lower limb rehabilitation robots based on gait analysis and control methods. It also provides an overview of the current state of research on lower limb exoskeleton robots in terms of degrees of freedom, actuation methods, and clinical applications. Furthermore, it offers insights into future directions for research on lower limb exoskeleton robots.
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