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

Annual Reviews in Control, Journal Year: 2022, Volume and Issue: 53, P. 83 - 96

Published: Jan. 1, 2022

Language: Английский

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Academic Review and Perspectives on Robotic Exoskeletons

IEEE Transactions on Neural Systems and Rehabilitation Engineering, Journal Year: 2019, Volume and Issue: 27(11), P. 2294 - 2304

Published: Oct. 1, 2019

Since the first robotic exoskeleton was developed in 1960, this research field has attracted much interest from both academic and industrial communities resulting scientific publications, prototype developments commercialized products. In article, to document progress current status of field, we performed a bibliometric analysis. This analysis evaluated publications exoskeletons 1990 July 2019 that were retrieved Science Citation Index Expanded database. The presented terms author keywords, year, country, institution, journal, author, citation. Results show currently United States taken leading position built largest collaborative network with other countries. Massachusetts Institute Technology (MIT) made greatest contribution investigations number average citations per publication h-index. addition, Journal NeuroEngineering Rehabilitation ranks among top 20 journals related during period investigated. Author keyword indicates most focused on rehabilitation robotics. Biomedical engineering, neurosciences are common disciplines conducting area according Web (WoS). Our study comprehensively assesses collaboration exoskeletons, thus helping researchers steer their projects or locate potential collaborators.

Language: Английский

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Suit-type Wearable Robot Powered by Shape-memory-alloy-based Fabric Muscle

Scientific Reports, Journal Year: 2019, Volume and Issue: 9(1)

Published: June 24, 2019

A suit-type wearable robot (STWR) is a new type of soft (SWR) that can be worn easily anywhere and anytime to assist the muscular strength wearers because it like normal clothes comfortable wear even with no power supply. This paper proposes an STWR, in which shape-memory-alloy-based fabric muscle (SFM) used as actuator. The weighs less than 1 kg, has simple structure, following components: SFMs, wire encoders for measuring contraction length BOA fix actuators on forearms. In this study, position controller SFM using encoder was developed, prototype STWR fabricated controller. Moreover, by putting mannequin, step-response experiments were performed arms mannequin lifted barbells weighing 2 kg 4 certain target position. fast response moving s observed all steps except initial heating step barbell. speed noticeably slower barbell compared barbell; moved approximately 3 step. SFM-applied could overcome limitations conventional robots terms weight inconvenience, thereby demonstrating application potential STWRs.

Language: Английский

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Soft Actuators and Robotic Devices for Rehabilitation and Assistance

Advanced Intelligent Systems, Journal Year: 2021, Volume and Issue: 4(4)

Published: Nov. 21, 2021

Soft actuators and robotic devices have been increasingly applied to the field of rehabilitation assistance, where safe human machine interaction is particular importance. Compared with their widely used rigid counterparts, soft can provide a range significant advantages; these include interaction, complex motions, ease fabrication, resilience variety environments. In recent decades, effort has invested in development assistive for improving medical treatments quality life. This review provides an overview current state‐of‐the‐art systems that achieve actuation by pneumatic hydraulic fluid‐power, electrical motors, chemical reactions, active materials such as dielectric elastomers, shape memory alloys, magnetoactive liquid crystal piezoelectric materials. Current research on its infancy, new device designs control strategies improved performance human–machine are identified particularly untapped areas research. Finally, insights into future directions outlined.

Language: Английский

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Development of an RBFN-based neural-fuzzy adaptive control strategy for an upper limb rehabilitation exoskeleton

Mechatronics, Journal Year: 2018, Volume and Issue: 53, P. 85 - 94

Published: June 19, 2018

Language: Английский

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Wearable Lower-Limb Exoskeleton for Children With Cerebral Palsy: A Systematic Review of Mechanical Design, Actuation Type, Control Strategy, and Clinical Evaluation

IEEE Transactions on Neural Systems and Rehabilitation Engineering, Journal Year: 2021, Volume and Issue: 29, P. 2695 - 2720

Published: Jan. 1, 2021

Children with a neurological disorder such as cerebral palsy (CP) severely suffer from reduced quality of life because decreasing independence and mobility. Although there is no cure yet, lower-limb exoskeleton (LLE) has considerable potential to help these children experience better mobility during overground walking. The research in wearable exoskeletons for CP still at an early stage. This paper shows that the number published papers on LLEs assisting significantly increased recent years; however, been carried out review studies systematically. To fill up this gap, systematic technical clinical perspective conducted, based PRISMA guidelines, under three extended topics associated "lower limb", "exoskeleton", "cerebral palsy" databases Scopus Web Science. After applying several exclusion criteria, seventeen articles focused fifteen were included careful consideration. These address some consistent positive evidence efficacy improving gait patterns CP. Statistical findings show knee exoskeletons, brushless DC motors, hierarchy control architecture, spastic diplegia are, respectively, most common mechanical design, actuator type, strategy, characteristics LLEs. Clinical suggest ankle-foot orthosis primary medical solution patterns; nevertheless, only one motorized ankle developed. more contribution are needed deal open challenges

Language: Английский

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Novel Accordion-Inspired Foldable Pneumatic Actuators for Knee Assistive Devices

Soft Robotics, Journal Year: 2019, Volume and Issue: 7(1), P. 95 - 108

Published: Sept. 30, 2019

Despite that various soft bending actuators have been presented in recent years, their widespread application knee assistive devices is still hindered by uncomfortable geometry, limited torque output, control complexity, and high cost to enhance the joint during human movements. Inspired accordion bellows, we proposed a novel design of foldable pneumatic (FPBAs) this study, which were fabricated with thermoplastic polyurethane fabric materials. FPBAs could produce inflation or interactive compression interconnect air chambers no airflow restriction occurring at any angle. General mechanical equations for derived characterize output as functions geometry internal pressure. To evaluate feasibility FPBAs, specific prototype rectangular was constructed tested experiments. A exosuit equipped also designed, five subjects recruited perform static postures rehabilitation training without assistance exosuit. Subjects' persistence time extensors' surface electromyography signals recorded compared, verified assisting effects Besides devices, be applied other robots thanks competitive advantages, such flexibility, large low-pressure input, simple fabrication process, light weight, low cost.

Language: Английский

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Exoskeleton use in post-stroke gait rehabilitation: a qualitative study of the perspectives of persons post-stroke and physiotherapists

Journal of NeuroEngineering and Rehabilitation, Journal Year: 2020, Volume and Issue: 17(1)

Published: Sept. 10, 2020

Abstract Background Wearable powered exoskeletons are a new and emerging technology developed to provide sensory-guided motorized lower limb assistance enabling intensive task specific locomotor training utilizing typical movement patterns for persons with gait impairments. To ensure that devices meet end-user needs it is important understand incorporate end-users perspectives, however research in this area extremely limited the post-stroke population. The purpose of study was explore in-depth, stroke physiotherapists, following single-use session H2 exoskeleton. Methods We used qualitative interpretive description approach semi-structured face interviews, 1.5 h Results Five 6 physiotherapists volunteered participate study. Both participant groups provided insightful comments on their experience Four themes were from data: (1) Adopting technology; (2) Device concerns; (3) Developing walking ability; and, (4) Integrating exoskeleton use. physiotherapist Developer-user collaboration; programming; Patient characteristics requiring consideration; (5) Indications Conclusions This provides an understanding neurological findings both stakeholder overlap such four over-arching concepts identified including: (i) Stakeholder participation; (ii) Augmentation vs. autonomous robot; (iii) Exoskeleton usability; (iv) concerns. end users valuable perspectives use design exoskeleton, identifying rehabilitation, need robust evidence base, whilst also highlighting there significant interest throughout continuum rehabilitation.

Language: Английский

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Exoskeleton robots for lower limb assistance: A review of materials, actuation, and manufacturing methods

Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine, Journal Year: 2021, Volume and Issue: 235(12), P. 1375 - 1385

Published: July 13, 2021

The field of robot-assisted physical rehabilitation and robotics technology for providing support to the elderly population is rapidly evolving. Lower limb robot aided assistive have been a focus engineering community during last three decades as several robotic lower exoskeletons proposed in literature well some being commercially available. Numerous manufacturing techniques materials developed two decades, resulting design variety gait assistance disabled people. One most important aspects developing selection appropriate proper material. material strongly influences overall weight performance exoskeleton robot. suitable fabrication method also an parameter development exoskeletons. In addition methods, actuation plays vital role these Even though various materials, methods actuators are reported exoskeletons, there still avenues improvement domains. this review, we examined concentrating on main material, manufacturing, actuation. We focused advantages drawbacks practices methods. A discussion future directions research provided covering

Language: Английский

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Optimal fuzzy logic-based control strategy for lower limb rehabilitation exoskeleton

Applied Soft Computing, Journal Year: 2021, Volume and Issue: 105, P. 107226 - 107226

Published: March 7, 2021

Language: Английский

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