Balance and stability issues in lower extremity exoskeletons: A systematic review

Hamza, Mukhtar Fatihu; Ghazilla, Raja Ariffin Raja; Muhammad, Bashir Bala; Yap, Hwa Jen

doi:10.1016/j.bbe.2020.09.004

Cited by 35 publications

(14 citation statements)

References 90 publications

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“…Furthermore, an exoskeleton robot model is useful in different industries, such as medicine, rehabilitation, and the military. For instance, soldiers can use them to minimize or remove the strain (Hamza et al, 2020 ) on their backs. Through the exoskeleton platform, users can handle the robot's posture and movement recognition and generate execution signals (Liu G. et al, 2020 ).…”

Section: Traditional Cooperative Controlmentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

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Effective control of an exoskeleton robot (ER) using a human-robot interface is crucial for assessing the robot's movements and the force they produce to generate efficient control signals. Interestingly, certain surveys were done to show off cutting-edge exoskeleton robots. The review papers that were previously published have not thoroughly examined the control strategy, which is a crucial component of automating exoskeleton systems. As a result, this review focuses on examining the most recent developments and problems associated with exoskeleton control systems, particularly during the last few years (2017–2022). In addition, the trends and challenges of cooperative control, particularly multi-information fusion, are discussed.

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Section: Traditional Cooperative Controlmentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

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“…The purpose of these 1 degree-of-freedom (dof) PAFOs are to aid in propulsion, and many studies are being conducted to optimize the controller and minimize the objective functions related to muscle activity or metabolic rate [9][10][11][12]. However, as the performance of rehabilitation devices improve enough to be applied in the clinic and they are becoming sufficiently safe, studies on PAFOs which are focused on improving the wearer's gait stability rather than providing simple assistance is becoming more common [13][14][15]. The goal of these qualitative rehabilitations is to restore the walking ability of the patients in a way that minimizes the risk of falling, rather than focusing only on moving forward, when the wearer's ability to walk is impaired due to an accident or disease.…”

Section: Introductionmentioning

confidence: 99%

Ankle strategy assistance to improve gait stability using controllers based on in-shoe center of pressure in 2 degree-of-freedom powered ankle–foot orthoses: a clinical study

Choi

Baek

2022

J NeuroEngineering Rehabil

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Background Although the ankle strategy is important for achieving frontal plane stability during one-leg stance, previously developed powered ankle–foot orthoses (PAFOs) did not involve ankle strategies because of hardware limitations. Weakness of movement in frontal plane is a factor that deteriorates gait stability and increases fall risk so it should not be overlooked in rehabilitation. Therefore, we used PAFO with subtalar joint for frontal plane movement and tried to confirm that the existence of it is important in balancing through clinical experiments. Methods We developed a proportional CoP controller to assist ankle strategy or stabilizing moment and enhance eversion to compensate for the tilting moment with 2 dof PAFO. It was true experimental study, and we recruited seven healthy subjects (30 ± 4 years) who did not experience any gait abnormality participated in walking experiments for evaluating the immediate effect of subtalar joint of PAFO on their gait stability. They walked on the treadmill with several cases of controllers for data acquisitions. Indices of gait stability and electromyography for muscle activity were measured and Wilcoxon signed-rank tests were used to identify meaningful changes. Results We found that subjects were most stable during walking (in terms of largest Lyapunov exponents, p < 0.008) with the assistance of the PAFO when their electromyographic activity was the most reduced (p < 0.008), although postural sway increased when a proportional CoP controller was used to assist the ankle strategy (p < 0.008). Other indices of gait stability, kinematic variability, showed no difference between the powered and unpowered conditions (p > 0.008). The results of the correlation analysis indicate that the actuator of the PAFO enhanced eversion and preserved the location of the CoP in the medial direction so that gait stability was not negatively affected or improved. Conclusions We verified that the developed 2 dof PAFO assists the ankle strategy by compensating for the tilting moment with proportional CoP controller and that wearer can walk in a stable state when the orthosis provides power for reducing muscle activity. This result is meaningful because an ankle strategy should be considered in the development of PAFOs for enhancing or even rehabilitating proprioception. Trial registration 7001988-202003-HR-833-03

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“…A lower extremity exoskeleton is a configurable device to be coupled to a person which comprises two leg supports that can attached or coupled to the person's lower limbs [1]. With multiple sensors built within the system, an exoskeleton can estimate user's movement and assist the person's motion accordingly.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Finite-Time Sliding Model Control of a Lower Limb Exoskeleton for Use in Rehabilitation

Tople

Khandare

Itankar

et al. 2021

Preprint

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Exoskeleton systems in recent years has become a prime choice technology due to the various possibilities it can deliver. These possibilities comprise the assisting and rehabilitative techniques designed for disabled and elderly people, so that they can regain control of their limbs and in addition to this also to augment and boost the abilities of able-bodied persons during heavy work-load conditions. Many works are reported on the modeling and control of a exoskeleton robot, but very few paper discuss the complete derivation of the model of the system. Here, first the dynamic model of a physical system used as lower limb exoskeleton robot is obtained. Secondly the analysis of the system done that is derived through dynamic modelling of a 3-link robotic manipulator using Euler-Lagrange approach and validation of the corresponding model in simulation. Further, design of a finite-time SMC for desired trajectory tracking of the system is implemented. The dynamic model of the 3-link system and its control using finite-time sliding mode control are validated in MATLAB simulation environment.

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Balance and stability issues in lower extremity exoskeletons: A systematic review

Cited by 35 publications

References 90 publications

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Ankle strategy assistance to improve gait stability using controllers based on in-shoe center of pressure in 2 degree-of-freedom powered ankle–foot orthoses: a clinical study

Modeling and Finite-Time Sliding Model Control of a Lower Limb Exoskeleton for Use in Rehabilitation

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