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SAC)控制、零力矩点(ZMP)控制、地面反作用力(GRF)控制等 [ 14]；基于生物医学信号的控制策略可分为基于表面肌电的控制、基于脑电的控制等；智能控制策略分为模糊控制、神经网络控制等. 机器人的控制技术是一项融合传感、算法、信息、移动计算等为一体的复杂技术，要使其能够准确、快速地预判穿戴者的意图，同时及时发出控制指令使机器人做出响应动作 [ 15]. 目前，运用以往单一经典控制理论已经无法较好实现产品要求，将多种控制策略综合应用或采用智能化控制可以有效提高下肢康复机器人控制系统的性能. 1.6 训练模式

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Fast Delivery: We know time is money. That's why we offer lightning-fast delivery to ensure your business operations keep running smoothly. Current and emerging robot-assisted endovascular catheterization technologies: A review[J]. Annals of Biomedical Engineering, 2013, 42(4): 697–715. Interconnection and damping assignment passivity-based impedance control of a compliant assistive robot for physical human-robot interactions[J]. IEEE Robotics & Automation Letters, 2019, 4(2): 538–545.

The effect of passive cycling movements on spasticity after spinal cord injury: Preliminary results[J]. Spinal Cord, 2005, 43(8): 483–488. Clinical application of the hybrid assistive limb (HAL) for gait training-a systematic review[J]. Frontiers in Systems Neuroscience, 2015, 9(48): 48. when storing the robot mower itself, charge fully, turn off, clean, and place in dry indoor conditions, and avoid leaving in freezing temperature.sEMG)传感器、肌力传感器和脑电(EEG)传感器等，对生物信号进行感知反馈. 运动学与力学参量是对患者运动状态直接的检测，具有更好的确定性，其信号提取和处理更稳定可靠，生物量感知系统是对患者主观运动意图的直接反映，能够有效恢复患者神经系统对肢体的控制功能，但是由于生物特征信号提取困难，干扰因素多，其应用仍有局限性 [ 12]. 1.5 运动控制策略

don’t forget to unplug the power supply connected to the charging station you left outside for winter; Store your Indego in dry place out of reach of children and within a temperature range of -20°C and 50°C. Post-stroke plastic reorganization in the adult brain[J]. The Lancet Neurology, 2003, 2(8): 493–502.Immediate effects of a single session of robot-assisted gait training using hybrid assistive limb (HAL) for cerebral palsy[J]. Journal of Physical Therapy Science, 2018, 30(2): 207–212. Gait training early after stroke with a new exoskeleton-the hybrid assistive limb: A study of safety and feasibility[J]. Journal of NeuroEngineering and Rehabilitation, 2014, 11(1): 92. Bosch Indego 350 features tilt, lift, rollover, and collision sensors, but no rain sensor. With the exception of using LogiCut technology where it’s systematically mapping out the cutting area and mowing in parallel rows, but also remembering where it left off when it goes to recharge, as opposed to mowing randomly, it otherwise works much like a typical robot lawn mower would. Note that this non-connect version of Indego 350 does not feature remote control as it does not “connect” to the internet nor Bluetooth. Robotic exoskeletons for reengaging in everyday activities: Promises, pitfalls and opportunities[J]. International Rehabilitation Medicine, 2019, 41(5): 560–563.

ReWalk下肢康复外骨骼机器人可以协助下肢瘫痪患者站立，行走，转弯和上下楼梯. 启动时，ReWalk使用倾角传感器与患者穿戴的腕带检测上肢的前倾，以微调重心位置的方式加以控制 [ 38]，通过电机驱动使机械腿按照预设模式模仿人体正常步态，以合适的速度辅助患者运动. 由于ReWalk采用机器主动控制，系统的动作不随人的意愿而改变，是一种被动的训练模式. 2014年ReWalk作为美国第一款外骨骼机器人获得FDA(food and drug administration)认证的个人应用许可，在美国、加拿大和欧洲等地区得到广泛的使用. Development of a metabolic equation for the NuStep recumbent stepper in older adults[J]. Percept Mot Skills, 2011, 112(1): 183–192. Design of rehabilitation training robot for lower limb of human body[J]. Machinery & Electronics, 2018, 36(3): 55–60.

Lokomat下肢康复机器人实现了被动训练及主动辅助等多种训练策略，为了满足控制要求，Bernhardt、Reiner等人先后针对Lokomat提出了PD(propotional-differential)控制、阻抗控制、力/位混合控制和自适应控制等方法 [ 29]，并以正常人、偏瘫及脊柱部分损伤患者为对象进行了实验研究，结果证明了这些控制策略的有效性. 临床应用中，Lokomat仍多采用位置控制策略实现控制相对简单的被动训练模式. 机械腿的髋关节和膝关节处设置了一些角度传感器、力传感器、力矩传感器等用于测量下肢运动情况的传感器. 在患者进行康复训练时，采用PD或者PID(pro-potional-integral-differential)反馈控制髋、膝关节运动. 将轨迹跟踪控制中规划的轨迹作为期望，与传感器测量得到的角度、力和力矩等实际值做差后通过比例微分控制的补偿. 除此之外，后续研究还增加了对踝关节的姿态控制，可以防止患者因足下垂导致的足部损伤. Métrailler P, Schmitt C. Improvement of rehabilitation possibilities with the MotionMaker[C]//IEEE/RAS-EMBS International Conference on Biomedical Robotics & Biomechatronics. Piscataway, NJ, USA: IEEE, 2006: 359-364. Bosch Indego 350 robotic lawnmower uses 3 pivoting small blades for a cutting system where they’re attached to a rotating disc. This type of cutting blade system is quieter, safer, and more energy efficient when compared to the solid blade, a common 2nd type of cutting blade system robot mower tend to have. As for the negatives, the pivoting small blades attached to a rotating disc are a little less efficient at cutting things when compared to the solid blade. And also, as you can imagine, they are more likely to break off for you to step on (but that in itself is highly unlikely to happen). Effects of robot-assisted gait training on the balance and gait of chronic stroke patients: Focus on dependent ambulators[J]. Journal of Physical Therapy Science, 2015, 27(10): 3053–3057. Additionally, it is recommended to clean your Indego before putting it into storage. Instructions how to clean your Indego can be found in the user manual.