穿戴式外骨骼康复辅具是一种可穿戴于人体上的智能化生机电控制系统，该系统通过外骨骼与人体肢体间力-位移的交互实现人机动作的耦合，可辅助人体实现某些特定功能，在临床康复治疗领域具有重要应用前景。上肢外骨骼和下肢外骨骼是目前常见的穿戴式外骨骼。上肢外骨骼包括肩肘手臂外骨骼和手指外骨骼，在康复训练中主要应用于中风后患者肩肘关节及腕手关节运动功能的康复训练。下肢外骨骼能够辅助下肢麻痹患者完成站立及运动，在下肢运动功能的康复治疗方面具有巨大的应用潜力。本文综述了目前常见的穿戴式外骨骼康复辅具的特点及其临床应用现状，并总结了目前国内外可穿戴外骨骼的研究进展。
The wearable exoskeleton is an intelligent biomechatronic system directly attached to the human body. The human-machine coupling characteristics-from the dual point of view-are derived from the force/moment interaction between the two systems, which can compensate the insufficient capacity of the human body, especially for the disabled. The wearable exoskeleton has a great potential in the field of rehabilitation therapy. The upper limb exoskeleton and the lower extremity exoskeleton are main types of wearable exoskeletons, which can be used for the motor rehabilitation. The upper limb exoskeleton contains the shoulder-arm hand exoskeleton and the hand exoskeleton, which can be used for the physical therapy of the upper limb and the hand fingers. The lower extremity exoskeleton can assist the patients of lower limb paralysis with active standing or walking, with a great potential for lower extremity rehabilitation. This paper reviews the clinical application status of wearable exoskeleton rehabilitation technical aids, and analyzes the current situation and the prospect of the wearable exoskeleton in China.
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