From Anthropomorphic Design Basis to Exoskeleton Research Status: A Review on Walking Assist Exoskeletons for Paraplegics

The limitations of WAEX (walking assist exoskeleton) and the basic bionic research on human lower-limbs are summarized according to the research status of WAEX for paraplegics and human movement mechanism. On this basis, the suggestions and prospects for anthropomorphic design and research are put forward to improve the WAEX with good stability, rich functionality and comfortable wearing. Firstly, the limitations of the present WAEX are analyzed and summarized, such as poor stability, limited functionality and unsatisfactory comfortability. As the anthropomorphic design can inspire the innovative research of WAEX, the neuromusculoskeletal structure, information sensing and neural control of human lowerlimbs are described to make clear their contributions to lower-limb movement and balance. Then, the typical mechanical structure, actuation, sensing and control system of the present WAEX are summarized. By comparing the performance of WAEX with its expected goal, the main research tendencies and key technologies in enhancing the stability, functionality and comfortability of WAEX are summarized and prospected.