Rehabilitative training and assistance to daily living activities play critical roles in improving the life quality of lower limb dyskinesia patients and older people with motor function degeneration. Lower limb rehabilitative exoskeleton has a promising application prospect in support of the above population. In this paper, critical technologies for developing lower limb rehabilitative exoskeleton for individualized user needs are identi- fied and reviewed, including exoskeleton hardware modularization, bionic compliant driving, individualized gait planning and individual-oriented motion intention recognition. Inspired by the idea of servitization, potentials in exoskeleton product-service system design and its enabling technologies are then discussed. It is suggested that future research will focus on exoskeleton technology and exoskeleton-based service development oriented to an individual’s physical features and personalized requirements to realize better human-exoskeleton coordination in terms of technology, as well as accessible and high-quality rehabilitation and living assistance in terms of utility.

Power-assisted lower limb exoskeleton robot is a wearable intelligent robot system involving mechanics,materials, electronics, control, robotics, and many other fields. The system can use external energy to provide additional power to humans, enhance the function of the human body, and help the wearer to bear weight that is previously unbearable. At the same time, employing reasonable structure design and passive energy storage can also assist in specific actions. First, this paper introduces the research status of power-assisted lower limb exoskeleton robots at home and abroad, and analyzes several typical prototypes in detail. Then, the key technologies such as structure design, driving mode, sensing technology, control method, energy management, and human-machine coupling are summarized, and some common design methods of the exoskeleton robot are summarized and compared. Finally, the existing problems and possible solutions in the research of power-assisted lower limb exoskeleton robots are summarized, and the prospect of future development trend has been analyzed.

Compared with the conventional first near-infrared (NIR-I, 700—900 nm) window, the short-wave infrared region (SWIR, 900—1 700 nm) possesses the merits of the increasing tissue penetration depths and the suppression of scattering background, leading to great potential for in vivo imaging. Based on the limitations of the common spectral domain, and the superiority of the time-dimension, time-resolved imaging eliminates the auto-fluorescence in the biological tissue, thus supporting higher signal-to-noise ratio and sensitivities. The imaging technique is not affected by the difference in tissue composition or thickness and has the practical value of quantitative in vivo detection. Almost all the relevant time-resolved imaging was carried out around lanthanide-doped upconversion nanomaterials, owing to the advantages of ultralong luminescence lifetime, excellent photostability, controllable morphology, easy surface modification and various strategies of regulating lifetime. Therefore, this review presents the research progress of SWIR time-resolved imaging technology based on nanomaterials doped with lanthanide ions as luminescence centers in recent years.