Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs

Medical and rehabilitation exoskeletons are being increasingly considered by therapists when choosing a treatment for individuals affected by lower limb impairments. Although all such exoskeletons seem to provide similar features and performance, there are, in practice, significant differences among...

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Detalles Bibliográficos
Autores: Plaza, Alberto, Hernández, Mar, Puyuelo, Gonzalo, Garces, Elena, García Armada, Elena
Tipo de recurso: artículo
Fecha de publicación:2023
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/347593
Acceso en línea:http://hdl.handle.net/10261/347593
Access Level:acceso abierto
Palabra clave:assistance robots
Exoskeleton
lower limb
rehabilitation
state of the art
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spelling Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current DesignsPlaza, AlbertoHernández, MarPuyuelo, GonzaloGarces, ElenaGarcía Armada, Elenaassistance robotsExoskeletonlower limbrehabilitationstate of the artMedical and rehabilitation exoskeletons are being increasingly considered by therapists when choosing a treatment for individuals affected by lower limb impairments. Although all such exoskeletons seem to provide similar features and performance, there are, in practice, significant differences among them in terms of maximum walking speed, maximum torque, weight, autonomy, interaction with the user, or even the way to use it. In this review, the state of the art of the main commercial exoskeletons is described, while analyzing their properties, advantages, and disadvantages. Three groups are considered: complete exoskeletons, partial exoskeletons and open lines of research. A comparative analysis between them is performed while considering the main scientific and technical aspects to be improved. In conclusion to this analysis, the balance between feasibility and innovation in exoskeletons development is a design challenge. Commercial exoskeletons must fulfil standards whilst ensuring their safety and robustness. However, achieving a new generation of exoskeletons means a need to implement new hardware paradigms, and to enhance control strategies focused on assist-as-needed scheme.Peer reviewedInstitute of Electrical and Electronics EngineersPlaza, Alberto [0000-0002-9483-8941]Hernandez, Mar [0000-0002-2937-1150]Puyuelo, Gonzalo [0000-0002-4989-8830Garces, Elena [0000-0002-3429-3142]García Armada, ElenaConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202420242023info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501http://hdl.handle.net/10261/347593reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés10.1109/rbme.2021.3078001Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3475932026-05-22T06:33:51Z
dc.title.none.fl_str_mv Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
title Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
spellingShingle Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
Plaza, Alberto
assistance robots
Exoskeleton
lower limb
rehabilitation
state of the art
title_short Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
title_full Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
title_fullStr Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
title_full_unstemmed Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
title_sort Lower-Limb Medical and Rehabilitation Exoskeletons: A Review of the Current Designs
dc.creator.none.fl_str_mv Plaza, Alberto
Hernández, Mar
Puyuelo, Gonzalo
Garces, Elena
García Armada, Elena
author Plaza, Alberto
author_facet Plaza, Alberto
Hernández, Mar
Puyuelo, Gonzalo
Garces, Elena
García Armada, Elena
author_role author
author2 Hernández, Mar
Puyuelo, Gonzalo
Garces, Elena
García Armada, Elena
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Plaza, Alberto [0000-0002-9483-8941]
Hernandez, Mar [0000-0002-2937-1150]
Puyuelo, Gonzalo [0000-0002-4989-8830
Garces, Elena [0000-0002-3429-3142]
García Armada, Elena
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv assistance robots
Exoskeleton
lower limb
rehabilitation
state of the art
topic assistance robots
Exoskeleton
lower limb
rehabilitation
state of the art
description Medical and rehabilitation exoskeletons are being increasingly considered by therapists when choosing a treatment for individuals affected by lower limb impairments. Although all such exoskeletons seem to provide similar features and performance, there are, in practice, significant differences among them in terms of maximum walking speed, maximum torque, weight, autonomy, interaction with the user, or even the way to use it. In this review, the state of the art of the main commercial exoskeletons is described, while analyzing their properties, advantages, and disadvantages. Three groups are considered: complete exoskeletons, partial exoskeletons and open lines of research. A comparative analysis between them is performed while considering the main scientific and technical aspects to be improved. In conclusion to this analysis, the balance between feasibility and innovation in exoskeletons development is a design challenge. Commercial exoskeletons must fulfil standards whilst ensuring their safety and robustness. However, achieving a new generation of exoskeletons means a need to implement new hardware paradigms, and to enhance control strategies focused on assist-as-needed scheme.
publishDate 2023
dc.date.none.fl_str_mv 2023
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/347593
url http://hdl.handle.net/10261/347593
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv 10.1109/rbme.2021.3078001
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869417089632043008
score 15,81155

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