The basic routine movements for elderly people are not easily accessible due to the weak muscles and impaired nerves in their lower extremity. In the last few years, many robotic-based rehabilitation devices, like orthosis and exoskeletons, have been designed and developed by researchers to provide locomotion assistance to support gait behavior and to perform daily activities for elderly people. However, there is still a need for improvement in the design, actuation and control of these devices for making them cost-effective in the worldwide market. In this work, a systematic review is presented on available lower limb orthosis and exoskeleton devices, to date. The devices are broadly reviewed according to joint types, actuation modes and control strategies. Furthermore, tabular comparisons have also been presented with the types and applications of these devices. Finally, the needful improvements for realizing the efficacy of lower limb rehabilitation devices are discussed along with the development stage. This review will help the designers and researchers to develop an efficient robotic device for the rehabilitation of the lower limb.

由于老年人的下肢肌肉无力且神经受损，因此他们不容易进行老年人的基本日常运动。在过去的几年中，研究人员设计和开发了许多基于机器人的康复设备，如矫形器和外骨骼，以提供运动帮助以支持步态行为并为老年人进行日常活动。但是，仍然需要改进这些设备的设计，致动和控制，以使其在全球市场上具有成本效益。在这项工作中，迄今为止对可用的下肢矫形器和外骨骼设备进行了系统的综述。根据关节类型，致动模式和控制策略对设备进行了广泛的审查。此外，还对这些设备的类型和应用进行了表格比较。最后，在开发阶段还讨论了实现下肢康复设备功效的必要改进。这项审查将帮助设计人员和研究人员开发一种有效的机器人设备来修复下肢。