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Overview: Types of Lower Limb Exoskeletons

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Mechatronics Study Program, Politeknik Negeri Batam 29432, Indonesia
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Faculty of Integrated Technologies, Universiti Brunei Darussalam, Jalan Tungku Link BE1410, Brunei
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Department of Mechanical Engineering, Diponegoro University, Jl. Prof.H.Soedarto S.H, Semarang 50275, Indonesia
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Robotics Study Program, Politeknik Negeri Batam 29432, Indonesia
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(11), 1283; https://doi.org/10.3390/electronics8111283
Received: 30 September 2019 / Revised: 27 October 2019 / Accepted: 28 October 2019 / Published: 4 November 2019
(This article belongs to the Special Issue Intelligent Electronic Devices)
Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper. View Full-Text
Keywords: actuator; lower limb exoskeleton; wearable robot actuator; lower limb exoskeleton; wearable robot
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MDPI and ACS Style

Pamungkas, D.S.; Caesarendra, W.; Soebakti, H.; Analia, R.; Susanto, S. Overview: Types of Lower Limb Exoskeletons. Electronics 2019, 8, 1283.

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