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) r...
Advancements in science and technology have driven the growing use of robots in daily life, with Portable-Powered Lower Limb Exoskeletons (PPLLEs) emerging as a key innovation. The selection of mechanisms, control strategies, and sensors directly inf...
Lower-limb rehabilitation exoskeletons offer a transformative approach to enhancing recovery in patients with movement disorders affecting the lower extremities. This comprehensive systematic review delves into the literature on sensor technologies a...
Introduction: Research and development efforts regarding passive lower-limb exoskeletons are actively ongoing to reduce work-related musculoskeletal disorders (WMDSs) from improper and prolonged posture. The aims of this study were to evaluate the ef...
The phase detection of abnormal gait and the prediction of lower-limb angles are key challenges in controlling lower-limb exoskeletons. This study simulated three types of abnormal gaits: scissor gait, foot-drop gait, and staggering gait. To enhance...
In this paper, we deal with Markov Jump Linear Systems-based filtering applied to robotic rehabilitation. The angular positions of an impedance-controlled exoskeleton, designed to help stroke and spinal cord injured patients during walking rehabilita...
Over the last decade, lower limb exoskeletons have seen significant development, with a particular focus on improving the interaction between the subject and the exoskeleton. This has been achieved by implementing advanced control strategies that ena...
Gait dysfunction (GD) is a common impairment of Parkinson’s disease (PD), which negatively impacts patients’ quality of life. Among the most recent rehabilitation technologies, a lower-limb powered exoskeleton (LLEXO) arises as a useful i...
Powered Lower Limb Exoskeletons (PLLE) have attracted much interest due to their potential applications. They provide assistance for persons with disabilities to accomplish activities of daily living (ADL), and more importantly, assist them in achiev...
Human motion is a daily and rhythmic activity. The exoskeleton concept is a very positive scientific approach for human rehabilitation in case of lower limb impairment. Although the exoskeleton shows potential, it is not yet applied extensively in cl...
The application of lower-limb exoskeleton robots in rehabilitation is becoming more prevalent, where the precision of control and the speed of response are essential for effective movement tracking. This study tackles the challenge of optimizing both...
Accurate modeling and simulation of lower limb rehabilitation exoskeleton (LLRE) enables effective control resulting in enhanced performance and ensuring efficient rehabilitation. There are two primary objectives of this study. First is to validate t...
With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the devel...
This paper addresses the challenges of inadequate trajectory tracking accuracy and limited parameter adaptability encountered by hip joints in lower-limb exoskeletons operating across multi-terrain environments. To mitigate these issues, we propose a...
In recent years, the lower limb exoskeleton has been more and more widely used in military, medical and other fields. In this paper, the muscle–bone model of the lower limb during the human walking process is analyzed, and a lower limb exoskele...
To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The a...
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom...
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...
Active power-assist lower limb exoskeleton robots aim to enhance wearer assistance while ensuring wearer comfort and simplifying the exoskeleton’s design and control. This study proposes an active assistance method known as Equivalent Force on...
In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The de...
Due to the ever-increasing proportion of older people in the total population and the growing awareness of the importance of protecting workers against physical overload during long-time hard work, the idea of supporting exoskeletons progressed from...
Electroencephalography (EEG) signals have great impact on the development of assistive rehabilitation devices. These signals are used as a popular tool to investigate the functions and the behavior of the human motion in recent research. The study of...
Gait phase is widely used for gait trajectory generation, gait control and gait evaluation on lower-limb exoskeletons. So far, a variety of methods have been developed to identify the gait phase for lower-limb exoskeletons. Angular sensors on lower-l...
Lower limb exoskeletons significantly enhance human functionality. However, simultaneously improving the load capacity of these devices while reducing metabolic costs presents a major challenge in the industry. This paper presents a lower limb exoske...
Lower-limb exoskeletons have undergone significant developments for aiding in the ambulation of adults with gait impairment. However, advancements in exoskeletons for the pediatric population have comparatively been lacking. This paper presents a new...
In order to solve poor coordination between the exoskeleton and the human leg, this article analyzed the spatiotemporal characteristics of lower limb motion using data collection from human walking gait experiments. According to the macro- and micro-...
With an aging population and the high incidence of neurological diseases, rehabilitative lower limb exoskeleton robots, as a wearable assistance device, present important application prospects in gait training and human function recovery. As the core...
Powered lower-limb exoskeletons represent a promising technology for helping the upright stance and gait of people with lower-body paralysis or severe paresis from spinal cord injury. The powered lower-limb exoskeleton assistance can reduce the devel...
To facilitate walking rehabilitation training for individuals with lower limb paralysis, a self-balancing exoskeleton robot with 12 degrees of freedom was conceived. The principal structural design was conducted in line with the biomechanics of the h...
In recent years, with the deepening research on exoskeletons for children with cerebral palsy, increasing evidence has highlighted their unique characteristics. Unlike adult exoskeletons, pediatric exoskeletons cannot be simply realized by scaling do...
Nowadays, engineering is working side by side with medical sciences to design and create devices which could help to improve medical processes. Physiotherapy is one of the areas of medicine in which engineering is working. There, several devices aime...
Exoskeletons are the mechanical systems whose operation is carried out in close cooperation with the human body. In this paper, the authors describe a mathematical model of the hydraulic exoskeleton of a lower limb. The coordinates of characteristic...
This article presents the design of a control algorithm based on Artificial Neural Networks (ANNs) applied to a lower-limb exoskeleton, which is aimed to carry out walking trajectories during lower-limb rehabilitation. The interaction between the pat...
The lower limb exoskeleton is a wearable human–robot interactive equipment, which is tied to human legs and moves synchronously with the human gait. Gait tracking accuracy greatly affects the performance and safety of the lower limb exoskeleton...
A typical man–machine coupling system could provide the wearer a coordinated and assisted movement by the lower limb exoskeleton. The process of cooperative movement relies on the accurate perception of the wearer’s human movement informa...
Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-...
13 May 2021
The aim of this study was to evaluate the muscle activities and subjective discomfort according to the heights of tasks and the lower-limb exoskeleton CEX (Chairless EXoskeleton), which is a chair-type passive exoskeleton. Twenty healthy subjects (th...
The exoskeleton robot is a wearable electromechanical device inspired by animal exoskeletons. It combines technologies such as sensing, control, information, and mobile computing, enhancing human physical abilities and assisting in rehabilitation tra...
This study aimed to develop an intuitive gait-related motor imagery (MI)-based hybrid brain-computer interface (BCI) controller for a lower-limb exoskeleton and investigate the feasibility of the controller under a practical scenario including stand-...
To facilitate rehabilitation training for patients, we proposed the implementation of an anthropomorphic exoskeleton structure that incorporates a variable instantaneous center of rotation (ICR). This design considers the variability in knee ICR amon...
While controlling a lower limb exoskeleton providing walking assistance to wearers, the walking terrain is an important factor that should be considered for meeting performance and safety requirements. Therefore, we developed a method to estimate the...
The lower limb exoskeleton investigated in this work actively supports the knee and hip and is intended to provide full motion support during gait. Parallel elastic actuators are integrated into the hip joints to improve the energy efficiency in gait...
Lower limb rehabilitation exoskeleton robots (LLRERs) play an important role in lower limb rehabilitation training and assistance walking for patients with lower limb movement disorders. In order to reduce and eliminate adverse effects on the accurac...
As important auxiliary equipment, rehabilitation robots are widely used in rehabilitation treatment and daily life assistance. The rehabilitation robot proposed in this paper is mainly composed of an omnidirectional mobile platform module, a lower li...
Ensuring the reliability and stability of lower limb rehabilitation exoskeleton robots during rehabilitation training is of paramount importance. Sensor faults in such systems can degrade overall performance and may even pose significant safety hazar...
A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the mach...
To overcome the problem of insufficient adaptability to the motion environment of lower limb exoskeleton robots, this paper introduces computer vision technology into the motion control of lower limb exoskeleton robots and studies an obstacle-crossin...
In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been prop...
Ground walking training using a floating-base lower-limb exoskeleton rehabilitation robot improves patients’ dynamic balance function, thereby increasing their motor and daily life activity capabilities. We propose a balance-directed motion gen...
Against the backdrop of intensifying global population aging, lower-limb exoskeleton robots serve as core devices for rehabilitation and power assistance. Their control accuracy and motion smoothness rely on precise dynamic models. However, parameter...
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