Mechatronic Exoskeletons for Lower-Limb Rehabilitation: An Innovative Review

Huamanchahua, Deyby; Taza-Aquino, Yerson; Bados, Jhon Stalin Figueroa; Alanya-Villanueva, Jason; Martínez, Ascensión Hernández; Ramirez‐Mendoza, Ricardo A.

doi:10.1109/iemtronics52119.2021.9422513

Cited by 16 publications

(4 citation statements)

References 53 publications

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“…Consequently, the demand for these rehabilitative treatments will continue to escalate. The lower limb rehabilitation exoskeleton, a specialized medical device designed for patients with lower limb paralysis or disabilities, will occupy a pivotal position in rehabilitation therapies (Huamanchahua et al, 2021 ). The rehabilitation exoskeleton robot is an industrialization research topic with significant market prospects.…”

Section: Introductionmentioning

confidence: 99%

Design and motion control of exoskeleton robot for paralyzed lower limb rehabilitation

Zhu,

Liu,

Zhang

et al. 2024

Front. Neurosci.

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IntroductionPatients suffering from limb movement disorders require more complete rehabilitation treatment, and there is a huge demand for rehabilitation exoskeleton robots. Flexible and reliable motion control of exoskeleton robots is very important for patient rehabilitation.MethodsThis paper proposes a novel exoskeleton robotic system for lower limb rehabilitation. The designed lower limb rehabilitation exoskeleton robot mechanism is mainly composed of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism. The forces and motion of the exoskeleton robot were analyzed in detail to determine its design parameters. The robot control system was developed to implement closed-loop position control and trajectory planning control of each joint mechanism.ResultsMultiple experiments and tests were carried out to verify robot's performance and practicality. In the robot angular response experiments, the joint mechanism could quickly adjust to different desired angles, including 15°, 30°, 45°, and 60°. In the trajectory tracking experiments, the exoskeleton robot could complete tracking movements of typical actions such as walking, standing up, sitting down, go upstairs and go downstairs, with a maximum tracking error of ±5°. Robotic wearing tests on normal people were performed to verify the assistive effects of the lower limb rehabilitation exoskeleton at different stages.DiscussionThe experimental results indicated that the exoskeleton robot has excellent reliability and practicality. The application of this exoskeleton robotic system will help paralyzed patients perform some daily movements and sports.

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Section: Introductionmentioning

confidence: 99%

Design and motion control of exoskeleton robot for paralyzed lower limb rehabilitation

Zhu,

Liu,

Zhang

et al. 2024

Front. Neurosci.

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“…Although a few limitations can appear, such as electrode shift, limb position, interference (ambient noise, transducer noise, power line, and so on), muscle fatigue, time-varying contraction intensity, and brain motor damage that cannot generate limb motor control signals. On the other hand, the perfect approach depends on HRI data, namely: capture point (CP), ground reaction forces (GRF), human joint trajectory, interaction force or human joint torque, and plantar pressure or center of pressure (CoP; all these techniques are known as non-bioelectrical signals; Chen et al, 2013 ; Lajeunesse et al, 2016 ; Rupal et al, 2016 ; Parri et al, 2017 ; Molteni et al, 2018 ; Zhou et al, 2019 ; Song et al, 2020a , b ; Dalla Gasperina et al, 2021 ; Huamanchahua et al, 2021 ; Li et al, 2021 ; He et al, 2022 ). Nevertheless, there is a significant disadvantage as well as an inconvenience; in this regard, subsequent motions should be able to achieve the interaction data.…”

Section: Introductionmentioning

confidence: 99%

“…It has been found that the last in-depth survey of the LLERCC was published in 2013 (Chen et al, 2013 ). Nevertheless, brief studies have been presented in Lajeunesse et al ( 2016 ), Rupal et al ( 2016 ), Molteni et al ( 2018 ), Shi et al ( 2019 ), Zhou et al ( 2019 ), Gull et al ( 2020 ), Huamanchahua et al ( 2021 ), Li et al ( 2021 ), and Rodríguez-Fernández et al ( 2021 ). Besides, the different researchers conducted surveys to highlight the state-of-the-art in ERs (Rehmat et al, 2018 ; Baud et al, 2021 ).…”

Section: Introductionmentioning

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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“…Huamanchahua et al, (2021);Yang et al, (2022);Wu & Chen, (2023);Wang et al, (2024);Akhtaruzzaman et al, (2024) se ha observado que la ausencia o la realización inapropiada de la fisioterapia puede resultar en un daño permanente en la articulación del miembro afectado. Por estas razones, es crucial subrayar la relevancia de elaborar modelos de exoesqueletos específicamente orientados a la rehabilitación física asistida.…”

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Desarrollo y evaluación de un exoesqueleto de rodilla: Innovación terapéutica para rehabilitación efectiva y accesible

Albán-Galárraga,

Jaque-Puca,

Muyulema Allaica

et al. 2024

TRJ

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El exoesqueleto motorizado es un robot portátil que puede proporcionar movimiento asistido por energía para el cuerpo humano. La investigación se planteó dos hitos objetivos: a) realizar el diseño y la fabricación de un prototipo de exoesqueleto para la rehabilitación de la rodilla utilizando fabricación aditiva (FDM) y b) evaluar el prototipo de exoesqueleto desarrollado como innovación terapéutica para la rehabilitación efectiva y accesible de rodilla. El método adoptó un enfoque experimental y cualitativo para la conceptualización y producción de un prototipo fabricado mediante FDM, destinado a replicar movimientos de extensión y flexión en un rango angular de 0° a 90°. El prototipo estuvo compuesto por una estructura metálica ajustable a diferentes alturas, con soportes de muslo y tibia. Se uso poliácido láctico (PLA) como material de manufactura 3D. Las dimensiones se determinaron utilizando tablas antropométricas Acopla95, para una población de 20 a 39 años. Para el seguimiento de las rutinas de rehabilitación, se creó una aplicación móvil que permitió ingresar datos como ángulo de flexión, número de series, repeticiones, tiempos de espera y tres velocidades de movimiento, la primera al 1% (35 grados/min), la segunda al 50% (70 grados/min) y la tercera al 100% (135 grados/min). El estudio reveló que el prototipo logra una precisión del 98% en la ejecución del ángulo de flexión deseado, con una variación máxima de 3 grados para un ángulo de 90 grados y 1 grado para otras medidas específicas.

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Mechatronic Exoskeletons for Lower-Limb Rehabilitation: An Innovative Review

Cited by 16 publications

References 53 publications

Design and motion control of exoskeleton robot for paralyzed lower limb rehabilitation

Design and motion control of exoskeleton robot for paralyzed lower limb rehabilitation

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

Desarrollo y evaluación de un exoesqueleto de rodilla: Innovación terapéutica para rehabilitación efectiva y accesible

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