Journal
JOURNAL OF NEUROENGINEERING AND REHABILITATION
Volume 16, Issue -, Pages -Publisher
BMC
DOI: 10.1186/s12984-019-0517-9
Keywords
Assistance; Compliant actuation; Mechanical compliance; Mechanical design; Lower limb exoskeleton; Rehabilitation
Categories
Funding
- project EUROBENCH (European ROBotic framework for bipedal locomotion bENCHmarking) - H2020 Topic ICT 27-2017: System abilities, SME & benchmarking actions, safety certification [779963]
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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.
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