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Journal of NeuroEngineering and Rehabilitation

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Open Access 01-12-2019 | Review

Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles

Authors: Maria del Carmen Sanchez-Villamañan, Jose Gonzalez-Vargas, Diego Torricelli, Juan C. Moreno, Jose L. Pons

Published in: Journal of NeuroEngineering and Rehabilitation | Issue 1/2019

Abstract

Exoskeleton technology has made significant advances during the last decade, resulting in a considerable variety of solutions for gait assistance and rehabilitation. The mechanical design of these devices is a crucial aspect that affects the efficiency and effectiveness of their interaction with the user. Recent developments have pointed towards compliant mechanisms and structures, due to their promising potential in terms of adaptability, safety, efficiency, and comfort. However, there still remain challenges to be solved before compliant lower limb exoskeletons can be deployed in real scenarios. In this review, we analysed 52 lower limb wearable exoskeletons, focusing on three main aspects of compliance: actuation, structure, and interface attachment components. We highlighted the drawbacks and advantages of the different solutions, and suggested a number of promising research lines. We also created and made available a set of data sheets that contain the technical characteristics of the reviewed devices, with the aim of providing researchers and end-users with an updated overview on the existing solutions.

Available only for authorised users

Exoskeleton: Mechanical system worn by humans to augment, complement or substitute the function of natural limbs which work in parallel with the human body [49]. The term ‘Wearable robot’ is commonly used interchangeably.

Structure: Mechanical components that transmit forces from the actuators to the interface attachment components of the exoskeleton. Structure can be composed of rigid and/or non-rigid materials.

Interface attachment components: Mechanical components that transmit forces between the structure of the exoskeleton and the user [101]. They are usually composed of rigid or semi-rigid braces or cuffs ensured to body segment through belts and/or straps.

Soft exoskeleton: Exoskeleton composed of non-rigid structure (i.e. textiles, straps, sleeves) to interface with the human body [111]. The term ‘soft exosuit’ is commonly used interchangeably.

Compliant actuation: Movement of the robotic system in order to perform its function; accomplished by some components with compliant properties (i.e. springs, custom made compliant mechanisms, etc.). The compliant actuator allows deviations from its equilibrium position [112].

Backdrivable actuator: Actuation system with low impedance behaviour when not powered [15, 24].

References [114‐159] include publications related to the 52 lower limb exoskeletons reviewed in this article that are not mentioned within the main body of the manuscript but appear in the figures.

Dress on: Put in contact. Attach the robot to the user prior to the exoskeleton is turned on.

Dress off: Interrupt the contact. Disengage the robot of the user after the exoskeleton is turned off.

Active DoF: DoF that requires a power supply to be moved. The term ‘powered DoF’ is commonly used interchangeably.

Passive DoF: DoF that does not require power supply to be moved. Commonly used mechanisms include springs, elastic elements and dampers [113].

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Title: Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles
Authors: Maria del Carmen Sanchez-Villamañan
Jose Gonzalez-Vargas
Diego Torricelli
Juan C. Moreno
Jose L. Pons
Publication date: 01-12-2019
Publisher: BioMed Central
Published in: Journal of NeuroEngineering and Rehabilitation / Issue 1/2019
Electronic ISSN: 1743-0003
DOI: https://doi.org/10.1186/s12984-019-0517-9

At a glance: The STEP trials

Springer Medicine

Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles

Abstract

At a glance: The STEP trials

Springer Medicine

Abstract

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