Design of a lower limb exoskeleton including roll actuation to assist walking and standing up

Park, Jihyun; Lee, Jae-Soon; Shin, Juseong; Cho, Baek-Kyu

doi:10.1109/humanoids.2015.7363575

Cited by 6 publications

(1 citation statement)

References 9 publications

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“…For Encoders, those mentioned within the data set can be split into two groups, the first are those developed by Maxon, such as the 4095 PPR (Pulse Per Revolution) MILE Incremental Encoder mentioned in [26]. The other group would be non-Maxon Encoders, such as the RMB28IC Rotary Magnetic Encoder in [43], or Avago HEDL-5640 A13 Encoder in [11]. Maxon Encoders in the dataset seem to cost ~ £130-£150 [44], but benefit from very small profiles, being specifically designed to work with Maxon Motors, and higher precision.…”

Section: Functionmentioning

confidence: 99%

A Systematic Review of Low-Cost Actuator Implementations for Lower-Limb Exoskeletons: a Technical and Financial Perspective

Slucock

2022

J Intell Robot Syst

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A common issue with many commercial rehabilitative exoskeletons and orthoses are that they can be prohibitively expensive for an average individual to afford without additional financial support. Due to this a user may have limited to the usage of such devices within set rehabilitation sessions as opposed to a continual usage. The purpose of this review is therefore to find which actuator implementations would be most suitable for a simplistic, low-cost powered orthoses capable of assisting those with pathologic gait disorders by collating literature from Web of Science, Scopus, and Grey Literature. In this systematic review paper 127 papers were selected from these databases via the PRISMA guidelines, with the financial costs of 25 actuators discovered with 11 distinct actuator groups identified. The review paper will consider a variety of actuator implementations used in existing lower-limb exoskeletons that are specifically designed for the purpose of rehabilitating or aiding those with conditions inhibiting natural movement abilities, such as electric motors, hydraulics, pneumatics, cable-driven actuators, and compliant actuators. Key attributes such as technical simplicity, financial cost, power efficiency, size limitations, accuracy, and reliability are compared for all actuator groups. Statistical findings show that rotary electric motors (which are the most common actuator type within collated literature) and compliant actuators (such as elastic and springs) would be the most suitable actuators for a low-cost implementation. From these results, a possible actuator design will be proposed making use of both rotary electric motors and compliant actuators.

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Section: Functionmentioning

confidence: 99%