Lower-limb exoskeletons are external mechanical structures that support and assist human users during locomotion. The earliest studies on exoskeletons date back to the 1960s, whereas, over the previous decade, research on powered lower-limb exoskeletons has substantially expanded [1]. Exoskeletons with different architectures have been developed to achieve various goals. Typically, lower-limb exoskeletons can be classified into two broad categories based on their intended use: assisting people who have pathological gaits and augmenting able-bodied users. The first type of exoskeleton is designed to aid individuals with neurological conditions, for example, stroke or spinal cord injury (SCI). With the help of an exoskeleton, these people can complete different tasks that they cannot complete without assistance. For example, the bilateral hip-knee exoskeletons ReWalk [2] and Ekso Bionics [3] enforce predefined reference trajectories determined by a finite-state-machine structure to assist individuals with SCI. The bilateral Wandercraft exoskeleton adopts a hybrid dynamicsbased controller to stabilize dynamically feasible periodic gaits for users with SCI, while allowing them to actively control the exoskeleton speed through upper-body posture.

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关于高度可反向驱动下肢外骨骼的设计和控制：对过去和正在进行的工作的讨论

下肢外骨骼是在运动过程中支持和协助人类用户的外部机械结构。最早的外骨骼研究可以追溯到 20 世纪 60 年代，而在过去的十年中，动力下肢外骨骼的研究已大幅扩展 [1]。具有不同架构的外骨骼已经被开发出来以实现不同的目标。通常，下肢外骨骼根据其预期用途可以分为两大类：帮助有病态步态的人以及增强身体健全的用户。第一种类型的外骨骼旨在帮助患有神经系统疾病的个体，例如中风或脊髓损伤（SCI）。在外骨骼的帮助下，这些人可以完成在没有帮助的情况下无法完成的不同任务。例如，双侧髋膝外骨骼 ReWalk [2] 和 Ekso Bionics [3] 强制执行由有限状态机结构确定的预定义参考轨迹，以帮助患有 SCI 的个体。双侧 Wandercraft 外骨骼采用混合动力学控制器，为 SCI 患者稳定动态可行的周期性步态，同时允许他们通过上身姿势主动控制外骨骼速度。