机器人学研究室知识库

首先简要描述了下肢外骨骼机器人在康复、工业以及军事等领域的应用需求，并对刚性与柔性下肢外骨骼系统（RLEEX/SLEEX）的优缺点、研究难点和适用人群进行了分析与对比．然后，对国内外研究机构在柔性下肢外骨骼机器人方面的研究历程与进展进行详细综述，重点描述了系统样机的结构与驱动特点、传感器布局方式、控制策略搭建以及助力效能评估等几项研究内容．最后，围绕柔性结构、意图识别、控制策略及助力评估共四方面关键技术进行了总结，并对未来发展趋势进行展望.

Firstly, the application requirements of lower extremity exoskeletons in rehabilitation, industry as well as military fields are introduced briefly, and the pros and cons, research problems and applicable population of rigid and soft lower extremity exoskeletons (RLEEX/SLEEX) are analyzed and compared. Subsequently, the research process and progress of SLEEX at home and abroad are illustrated in great detail, especially in mechanisms and actuation, sensors layout, development of control strategies as well as assessment of the assistance performance. Finally, the key technologies related to the SLEEX, including soft structure, human intention recognition, control strategies and assistance assessment, are summarized, and the future research direction is prospected.