A Review on the Rehabilitation Exoskeletons for the Lower Limbs of the Elderly and the Disabled

Wang, Tao; Zhang, Bin; Liu, Chenhao; Liu, Tao; Han, Yi; Wang, Shuoyu; Ferreira, José Ribeiro; Dong, Wei; Zhang, Xiufeng

doi:10.3390/electronics11030388

Cited by 41 publications

(22 citation statements)

References 94 publications

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“…In this way, the motion of the exoskeleton should comply with the movement of lower limbs in an anatomical structure. Inspired by the movement of lower limbs, the design of robotic exoskeletons should be in accordance with the ergonomic principles to guarantee that the system is kinematically compatible with the lower limbs [33,34].…”

Section: Mechanical Structure Of Robotic Hip-knee Exoskeletonmentioning

confidence: 99%

Assistive Mobility Control of a Robotic Hip-Knee Exoskeleton for Gait Training

Changcheng

Chen

2022

Sensors

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In this paper, we present an assistive mobility control for a robotic hip-knee exoskeleton intended for gait training. The robotic hip-knee exoskeleton is designed with an active flexion/extension and a passive abduction/adduction at each hip joint and an active flexion/extension at each knee joint to comply with the movement of lower limbs. While facilitating walking with the robotic exoskeleton, model-free linear extended state observer (LESO)-based controllers are proposed for gait control, in which the LESO is used to deal with each user’s different lower limb parameters and unknown exerted torques. Walking and ascending experiments were conducted to evaluate the performance of the proposed methods, and the results are shown with respect to walking parameters. Moreover, a preliminary study for an extended application to the recovery of normal gaits that relieves the freezing of gait (FOG) in Parkinson’s disease (PD) patients is also investigated in the paper.

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Section: Mechanical Structure Of Robotic Hip-knee Exoskeletonmentioning

confidence: 99%

Assistive Mobility Control of a Robotic Hip-Knee Exoskeleton for Gait Training

Changcheng

Chen

2022

Sensors

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“…Young and Ferris [ 27 ] reviewed common approaches in exoskeleton design, including actuators, energy supplies, control strategies, and materials. Some sensors were briefly mentioned in connection with movement perception and control methods [ 28 , 29 ] or assistive strategies [ 30 ]. Hussain et al [ 31 ] examined various lower-limb robotic exoskeletons, concentrating on materials, manufacturing, and actuation.…”

Section: Introductionmentioning

confidence: 99%

Lower Limb Exoskeleton Sensors: State-of-the-Art

Neťuková

Bejtic

Mala

et al. 2022

Sensors

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Due to the ever-increasing proportion of older people in the total population and the growing awareness of the importance of protecting workers against physical overload during long-time hard work, the idea of supporting exoskeletons progressed from high-tech fiction to almost commercialized products within the last six decades. Sensors, as part of the perception layer, play a crucial role in enhancing the functionality of exoskeletons by providing as accurate real-time data as possible to generate reliable input data for the control layer. The result of the processed sensor data is the information about current limb position, movement intension, and needed support. With the help of this review article, we want to clarify which criteria for sensors used in exoskeletons are important and how standard sensor types, such as kinematic and kinetic sensors, are used in lower limb exoskeletons. We also want to outline the possibilities and limitations of special medical signal sensors detecting, e.g., brain or muscle signals to improve data perception at the human–machine interface. A topic-based literature and product research was done to gain the best possible overview of the newest developments, research results, and products in the field. The paper provides an extensive overview of sensor criteria that need to be considered for the use of sensors in exoskeletons, as well as a collection of sensors and their placement used in current exoskeleton products. Additionally, the article points out several types of sensors detecting physiological or environmental signals that might be beneficial for future exoskeleton developments.

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“…The structure of VSA allows it to solve aforementioned issues of rigid robots. They are far safer than rigid robots in collaboration with humans, more efficient for some applications like rehabilitation purposes [44], and more backdrivable against external force/torques. Although some elastic structures have been introduced which are enabled by pneumatic actuators [41], biphasic media [27] and Piezoelectric actuator [46] however, the majority of the designs employ electromechanical actuators as the source of mechanical power.…”

Section: Introductionmentioning

confidence: 99%

Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control

Javadi

Chaichaowarat²

2022

Nonlinear Dyn

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Motor dynamics in Antagonistic Variable Stiffness Actuator (AVSA) is generally not considered in control system design. This ignorance can lead to an inaccurate system model and hence the performance of closed-loop system can be affected. The motor dynamics can be modeled as an input-delay in actuator model. For the first time, motor dynamics is modeled as input time-delay for an antagonistic variable stiffness actuator in this paper. Since the stiffness of AVSA is a nonlinear function of system states, stiffness tracking for AVSA is a challenging task. Especially when the model contains input delay, many of the existing delay compensation controllers cannot be used for stiffness tracking purpose. To handle this issue, a nonlinear transformation is introduced and then a super-twisting sliding mode control is utilized to reach position and stiffness tracking simultaneously. To compensate input time-delay, prediction-based feedback is involved together with disturbance observers for estimating external disturbance. Simulation results show that the proposed design approach is successful in position and stiffness tracking and at the same time in attenuating external disturbance effect.

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A Review on the Rehabilitation Exoskeletons for the Lower Limbs of the Elderly and the Disabled

Cited by 41 publications

References 94 publications

Assistive Mobility Control of a Robotic Hip-Knee Exoskeleton for Gait Training

Assistive Mobility Control of a Robotic Hip-Knee Exoskeleton for Gait Training

Lower Limb Exoskeleton Sensors: State-of-the-Art

Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control

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