【摘要】 目的 介绍国内外防跌倒步态平衡训练机器人研究的主要进展，为防跌倒步态平衡训练机器人等医工结合领域的研究提供可借鉴的思路。方法 主要从4个方面总结了下肢辅助康复机器人研究的最新进展，具体包括机器人构型，机构控制策略和算法，步态数据采集方法和步态数据分析方法。结论 在国内外对步态平衡训练机器人的研究中，机器人的市场定位细分是当前学界面临的挑战。各主流解决方案侧重点都不相同，针对用户细分的方法也不一样。由于主要的目标人群老年人群体用户差异性强，因此用户的个性化训练需求较高，未来需要进一步细化步态平衡训练机器人的定位，满足不同情况下不同用户在不同阶段的个性化训练需求，有望提升步态平衡训练机器人的整体水平。更多还原

【Abstract】 This paper introduces the main progress of research on anti-fall gait balance training robots at home and abroad, and provides reference ideas for the research of anti-fall gait balance training rehabilitation robots and other fields of medical-industrial integration. The latest progress in the research of lower limb assisted rehabilitation robot is mainly summarized from four aspects, including: robot configuration; mechanism control strategy and algorithm; gait data collection method and gait data analysis method. In the current research, the market positioning of robots is a challenge faced by the current academic community. At present, various mainstream solutions have different focuses and different user segments. However, the main target group, the elderly, has strong user differences, so users have high personalized training needs. In the future, it is necessary to further refine the positioning of the gait balance training robot to meet the personalized training needs of different users at different stages in different situations, which is expected to improve the overall level of gait balance training robots.更多还原