From sensing to control of lower limb exoskeleton: a systematic review

Sun, Yuanxi; Tang, Yuntao; Jia, Zheng; Dong, Dianbiao; Chen, Xiaohong; Bai, Long

doi:10.1016/j.arcontrol.2022.04.003

Cited by 74 publications

(36 citation statements)

References 144 publications

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“…In research, the mechanical design (Islam et al, 2017;Viteckova et al, 2018;Del Sanchez-Villamañan et al, 2019;Jamwal et al, 2020;Kermavnar et al, 2021;Rodríguez-Fernández et al, 2021;Zhang et al, 2021;Tijjani et al, 2022) and the suitability of different control strategies for adaptive gait assistance (Jamwal et al, 2020;Baud et al, 2021) is still a major focus. Fewer reviews focus on different control algorithms and sensing (Massardi et al, 2022;Sun et al, 2022), human-machine interface (Giusino et al, 2020) or give a more generalized overview of the topic of exoskeletons (Masia et al, 2018;La Tejera et al, 2021). Some authors call for more synchronized research between different fields and regulatory institutions (Chen et al, 2020;Fosch-Villaronga and Özcan, 2020;Kapsalyamov et al, 2020).…”

Section: State Of the Artmentioning

confidence: 99%

Exoskeletons: A challenge for development

2023

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The development of exoskeletons is currently a lengthy process full of challenges. We are proposing a framework to accelerate the process and make the resulting exoskeletons more user-centered. The needed accomplishments in science are described in an effort to lay the foundation for future research projects. Since the early 2000s, exoskeletons have been discussed as an emerging technology in industrial, medical, or military applications. Those systems are designed to support people during manual tasks. At first, those systems lacked broad acceptance. Many models found their niches in ongoing developments and more diverse systems entering the market. There are still applications that are in dire need of such assistance. Due to the lack of experience with body-worn robotics, the development of such systems has been shaped by trial and error. The lack of legacy products results in longer development times. In this paper, a process to generate a framework is presented to display the required research to enable future exoskeleton designers. Owing to their proximity to the user’s body, exoskeletons are highly complex systems that need sophisticated subsystems, such as kinematic, control, interaction design, or actuators, to be accepted by users. Due to the wide variety of fields and high user demands, a synchronized multidisciplinary effort is necessary. To achieve this, a process to develop a modular framework for exoskeleton design is proposed. It focuses on user- and use-case-centered solutions for matching kinematics, actuation, and control. To ensure the usefulness of the framework, an evaluation of the incorporated solutions is required.

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Section: State Of the Artmentioning

confidence: 99%

Exoskeletons: A challenge for development

2023

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“…It has higher requirements in man-machine coordination, and its working principle must be guaranteed to meet the physiological structure and operating mechanism of the human body as much as possible [18]. In addition, the sensing and control method, modeling stability, and comfort of a lower limb exoskeleton will also affect its performance [19]. The main function of an unpowered exoskeleton is to convert the human body's own gravity potential energy, motion energy, or external load to the energy storage element in order to replace the bearing force of human bones and joints.…”

Section: Introductionmentioning

confidence: 99%

A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement

Tang

Zhou

et al. 2022

Micromachines

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Human body enhancement is an interesting branch of robotics. It focuses on wearable robots in order to improve the performance of human body, reduce energy consumption and delay fatigue, as well as increase body speed. Robot-assisted equipment, such as wearable exoskeletons, are wearable robot systems that integrate human intelligence and robot power. After careful design and adaptation, the human body has energy-saving sports, but it is an arduous task for the exoskeleton to achieve considerable reduction in metabolic rate. Therefore, it is necessary to understand the biomechanics of human sports, the body, and its weaknesses. In this study, a lower limb exoskeleton was classified according to the power source, and the working principle, design idea, wearing mode, material and performance of different types of lower limb exoskeletons were compared and analyzed. The study shows that the unpowered exoskeleton robot has inherent advantages in endurance, mass, volume, and cost, which is a new development direction of robot exoskeletons. This paper not only summarizes the existing research but also points out its shortcomings through the comparative analysis of different lower limb wearable exoskeletons. Furthermore, improvement measures suitable for practical application have been provided.

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“…This is provided by the controller. At present, there is no general convergence in the control strategies of the exoskeleton, which is mainly due to the vast diversity in the design purposes, hardware structures, and actuating modes of different exoskeletons [9]. It can be fuzzy [10], neural network [11], adaptive [12], sliding mode [13] or PID controller [14].…”

Section: Introductionmentioning

confidence: 99%

Multi-objective Fractional Order PID Controller Optimization for Kid's Rehabilitation Exoskeleton

Zaway

Jallouli-Khlif

Maaleja

et al. 2022

IJRCS

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Fractional order Controllers have been used in several industrial cases to achieve better performance of the systems. This paper proposes a Fractional Order Proportional Integral Derivative (FOPID) controller. It is synthesized using Oustaloup approximation, and its parameters are tuned using the Genetic Algorithm (GA) optimization method. The aim is to minimize the error, the energy and the startup torques using two objective functions to improve the control performances and the robustness. The validity of the proposed controller is shown via simulation by controlling a two-link exoskeleton for children's gait rehabilitation, and the results are compared to an Integer order PID (IOPID) controller. Simulation results clearly indicate the superiority of the optimized FOPID in terms of trajectory tracking and the used torques. Moreover, the FOPID controller is tested with parameter uncertainties. Its robustness is proven against thigh and shank masses variation. Both controllers are simulated under the same frequency conditions using Simulink MATLAB R2018a.

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From sensing to control of lower limb exoskeleton: a systematic review

Cited by 74 publications

References 144 publications

Exoskeletons: A challenge for development

Exoskeletons: A challenge for development

A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement

Multi-objective Fractional Order PID Controller Optimization for Kid's Rehabilitation Exoskeleton

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