康复辅助器具（rehabilitation&assistive device）是对身体功能障碍进行补偿、替代或修复最直接有效的手段之一，其服务对象既包括某些组织和功能全部或者部分丧失的残疾人，也包括身体功能退化需要辅助的老年人，还包括组织和功能暂时受损者。康复辅助器具产业的创新发展，是满足人民群众对美好生活需要的重要保障，是深化供给侧结构性改革、培育经济发展新动能的重要内容。发展康复辅具对于提高残障人（残疾人、老年人、伤病人）的生活质量、减轻家庭负担以及保持社会和谐发展具有重要的意义。

The rehabilitation training is a necessary treatment for the patients with stroke or other neuromuscular injuries. This paper reviews the researches of the rehabilitation training aids and the related assistive technologies at home and abroad, focusing on the rehabilitation training assistive technology in detection, rehabilitation training and treatment from the aspects of the rehabilitation function evaluation technology, the wearable technology, the neuroscience, the virtual reality and the multimodal control technology.

The gait is one part of an individual's specific biological information, in the fields of medical health, athletic performance and biometrics. The wearable gait detecting system is a comprehensive system integrating hardware, software, data processing analysis and gait algorithm, and is easy to operate and to acquire the gait information of the subject in real-time and with high precision. It can be effectively used in the evaluation of the rehabilitation, the abnormal gait monitoring and the early warning of the elderly in line with the needs of the rehabilitation and pension field in the context of our aging society. With the accumulation of the gait data and the establishment of disease prediction models in different disease cohort studies, the gait detection and evaluation will find more important applications with broad application prospects in the field of the rehabilitation and the elderly care service.

At present, there is a great demand for the rehabilitation training in China. For the patients of disability, the rehabilitation training is the main way for the functional recovery. Compared to the passive training, the rehabilitation robot with active training can induce and encourage the patients to actively participate in the rehabilitation training process, and then achieve a better long-term training effect. In this paper, the rehabilitation robot with active training is presented in the following four parts:the assistive technology, the sensory interaction, the control strategy, and the development tendency. In order to make the training system comfortable for the user, the system should be designed based on the human-centered prospective. The personalized modeling with a movement intention, could improve the control accuracy in the human-machine interaction. Finally, the most important key is to induce the patients to participate in the training actively in order to improve the neural stimulation training effect.

China is facing the serious problem of a huge number of disabled people. The intelligent walkers can help the disabled to walk more easily and freely, improve the quality of life of the disabled, and effectively ease the conflict between the single traditional walker function and the diverse patient needs. The intelligent walkers are expected to provide a solution to solve some social problems such as the walking-aids for the disabled. This paper reviews the related researches of intelligent walkers that provide the mobility services for disabled people. This paper also reviews the senses, the interactions and the controls as well as the safety of the intelligent walkers. At the end of the paper, the development of the intelligent walker by combining new materials and artificial intelligence is discussed.

The paraplegic walking orthosis is a kind of orthosis being used to assist the paraplegic patients standing and walking. The intelligent paraplegic walking orthosis is a special functional intelligent walking accessory based on the walking robot technology. A combination of the robotics, the biology, and the rehabilitation engineering assists the patients with the thoracolumbar spinal cord injury to stand, walk, and climb stairs like the normal people. This paper reviews the research progress and the representative research results of the paraplegic walking robot at home and abroad, including its basic components, technical characteristics and existing problems, as well as its future development.

The foot is the most fundamental part of the human body for providing the body support, absorpting the impact and acting with the environment for propelling during movement. The ankle joint serves as a critical connection between the foot and the upper body. The problems in the foot and ankle will cause pain and weaken the functions of certain parts, and potentially result in further negative consequences to the lower limb, the pelvis even the spine. The orthoses of the foot and ankle, including the insoles, the braces, the arch supports and the ankle-foot orthoses, are used as non-surgical treatments to relieve pain, and compensate or retrieve functions. The foot orthoses could redistribute the plantar pressure distribution and realign the segments of the foot and ankle. The changes in the foot and ankle possibly will lead to biomechanical deviations in the upper body. It is critical to enhance the knowledge of the biomechanical consequences for the estimation of the efficiency and the optimization of the design of the foot ankle orthoses.

The diabetic foot is one of the most serious complications of diabetes mellitus. A well-designed footwear can effectively relieve the plantar pressure and optimize the pressure redistribution, to reduce the incidence of foot ulcers and amputation, and improve the health of the foot tissue and the quality of life in diabetics. This paper reviews the pre-clinical diagnosis of the diabetic foot, the design principles and the manufacturing technology of the diabetic foot orthoses, and related clinical effects. It is found that the current diabetic foot orthoses are mainly designed for optimizing the distribution of the plantar pressure, but without a proper physiological evaluation and an active protection, which should be considered in the further design of intelligent technical aids for the diabetic foot.

The neural prosthesis is an important aid that helps patients of physical disability to restore the functions of the limbs, so as to improve the quality of life. However, the motor control of the current prosthetic devices is still highly dependent on the visual feedback of the user, due to the lack of the perceptual feedback (tactile, proprioception, temperature, pain, etc.). Even through a long period of training, it is difficult for the user to achieve a fine and skillful manipulation of the prosthetic device, with a high rate of abandonment, or rejection of the device, especially, the prosthetic hands. Restoring sensory function for the prosthetic hand is essential and has become one of the major challenges in the field of the neurorehabilitation engineering and the medical robotics. Several neural technologies were developed to allow the restoration of the sensory ability, with sensory feedback technologies being applied to patients with the amputation and the spinal cord injury. A breakthrough of improvement in the functionality and the embodiment of the prosthetic hands is shown. This paper reviews the neural basis of the sensory function, the different types of neural technologies and their applications, as well as the latest developments in the sensory neural prosthesis technologies.

The orthosis is the most effective method to treat the scoliosis without causing trauma when the patient is still in the stage of growth and development. With the clinical application of the scoliosis orthotics in the National Research Center for Rehabilitation Technical Aids in the past two years, 54 patients wearing the scoliosis orthotics are selected to analyze the correction effect and the value of the clinical application of the scoliosis orthotics in the conservative treatment of the scoliosis.