A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

Tijjani, Ibrahim; Kumar, Shivesh; Boukheddimi, Melya

doi:10.3390/app12052395

Cited by 26 publications

(12 citation statements)

References 117 publications

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“…Over time, several studies have looked at the exoskeletons of the lower limbs for rehabilitation. Some of these reviews have focused on reviewing general aspects of exoskeleton technology [2,[20][21][22][23]; others have focused on more specific issues, such as control strategies [19,24] or joint design [25]. In [20], Meda-Gutiérrez and the team aim to identify state of the art medical device designs, based on an analysis of patents and literature.…”

Section: Discussionmentioning

confidence: 99%

“…The authors also investigated the control schemes and operating principles used in the revised motorised ankle exoskeletons and their interaction with the integrated sensor systems. Other reviews have focused on reviewing the technological aspects of exoskeletons from a general perspective [2], while others have concentrated on bipedal locomotion [18,19] or designing specific joints [20]. This review provides an overview of robotic lower-limb exoskeletal systems for rehabilitation that are intended primarily for use by people with gait disorders.…”

Section: Introductionmentioning

confidence: 99%

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The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review

et al. 2022

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In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been proposed in the patent literature and some are even commercially available. Given the above, we are asking ourselves at the end of the COVID-19 pandemic: how much has this pandemic affected both the publication of patents and the application of new ones? How has new patents’ publication volume or application in robotic exoskeleton systems changed? We hypothesize that this pandemic has caused a reduction in the volume of new applications and possibly publications. We compare pandemic analysis and the last decade’s analysis to answer these questions. In this study, we used a set of statistical tests to see if there were any statistically significant changes. Our results show that the pandemic had at least one effect on applying for new patents based on the information analyzed from the three databases examined.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review

et al. 2022

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“…This control architecture is usually composed of a low-level controller comparable to standard controllers such as PID, PI, and PD. This controller changes based on the desired activity that the user intends to execute ( Tijjani et al, 2022 ). The mid-level controller is used for two tasks: in the first one, a standard controller applies the control strategy; and in the second one, mathematical equations are considered to estimate the HRI and convert it into supported values used by the low-level controller ( Vantilt et al, 2019 ).…”

Section: Methodsmentioning

confidence: 99%

Effects of stance control via hidden Markov model-based gait phase detection on healthy users of an active hip-knee exoskeleton

Sanchez-Manchola

Arciniegas-Mayag

Múnera

et al. 2023

Front. Bioeng. Biotechnol.

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Introduction: In the past years, robotic lower-limb exoskeletons have become a powerful tool to help clinicians improve the rehabilitation process of patients who have suffered from neurological disorders, such as stroke, by applying intensive and repetitive training. However, active subject participation is considered to be an important feature to promote neuroplasticity during gait training. To this end, the present study presents the performance assessment of the AGoRA exoskeleton, a stance-controlled wearable device designed to assist overground walking by unilaterally actuating the knee and hip joints.Methods: The exoskeleton’s control approach relies on an admittance controller, that varies the system impedance according to the gait phase detected through an adaptive method based on a hidden Markov model. This strategy seeks to comply with the assistance-as-needed rationale, i.e., an assistive device should only intervene when the patient is in need by applying Human-Robot interaction (HRI). As a proof of concept of such a control strategy, a pilot study comparing three experimental conditions (i.e., unassisted, transparent mode, and stance control mode) was carried out to evaluate the exoskeleton’s short-term effects on the overground gait pattern of healthy subjects. Gait spatiotemporal parameters and lower-limb kinematics were captured using a 3D-motion analysis system Vicon during the walking trials.Results and Discussion: By having found only significant differences between the actuated conditions and the unassisted condition in terms of gait velocity (ρ = 0.048) and knee flexion (ρ ≤ 0.001), the performance of the AGoRA exoskeleton seems to be comparable to those identified in previous studies found in the literature. This outcome also suggests that future efforts should focus on the improvement of the fastening system in pursuit of kinematic compatibility and enhanced compliance.

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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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A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking

Cited by 26 publications

References 117 publications

The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review

The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review

Effects of stance control via hidden Markov model-based gait phase detection on healthy users of an active hip-knee exoskeleton

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

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