Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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BMC
2019-05-01
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| Series: | Journal of NeuroEngineering and Rehabilitation |
| Subjects: | |
| Online Access: | http://link.springer.com/article/10.1186/s12984-019-0517-9 |
| _version_ | 1818478725624233984 |
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| author | Maria del Carmen Sanchez-Villamañan Jose Gonzalez-Vargas Diego Torricelli Juan C. Moreno Jose L. Pons |
| author_facet | Maria del Carmen Sanchez-Villamañan Jose Gonzalez-Vargas Diego Torricelli Juan C. Moreno Jose L. Pons |
| author_sort | Maria del Carmen Sanchez-Villamañan |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-10T09:51:38Z |
| format | Article |
| id | doaj.art-912dfc2a729640708c212e45df902da9 |
| institution | Directory Open Access Journal |
| issn | 1743-0003 |
| language | English |
| last_indexed | 2024-12-10T09:51:38Z |
| publishDate | 2019-05-01 |
| publisher | BMC |
| record_format | Article |
| series | Journal of NeuroEngineering and Rehabilitation |
| spelling | doaj.art-912dfc2a729640708c212e45df902da92022-12-22T01:53:39ZengBMCJournal of NeuroEngineering and Rehabilitation1743-00032019-05-0116111610.1186/s12984-019-0517-9Compliant lower limb exoskeletons: a comprehensive review on mechanical design principlesMaria del Carmen Sanchez-Villamañan0Jose Gonzalez-Vargas1Diego Torricelli2Juan C. Moreno3Jose L. Pons4Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC)Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC)Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC)Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC)Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC)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.http://link.springer.com/article/10.1186/s12984-019-0517-9AssistanceCompliant actuationMechanical complianceMechanical designLower limb exoskeletonRehabilitation |
| spellingShingle | Maria del Carmen Sanchez-Villamañan Jose Gonzalez-Vargas Diego Torricelli Juan C. Moreno Jose L. Pons Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles Journal of NeuroEngineering and Rehabilitation Assistance Compliant actuation Mechanical compliance Mechanical design Lower limb exoskeleton Rehabilitation |
| title | Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles |
| title_full | Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles |
| title_fullStr | Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles |
| title_full_unstemmed | Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles |
| title_short | Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles |
| title_sort | compliant lower limb exoskeletons a comprehensive review on mechanical design principles |
| topic | Assistance Compliant actuation Mechanical compliance Mechanical design Lower limb exoskeleton Rehabilitation |
| url | http://link.springer.com/article/10.1186/s12984-019-0517-9 |
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