Sensors and Actuation Technologies in Exoskeletons: A Review

Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation technologies are two fundamental research themes for their development. In this review, an in-depth study of the works related to exoskeletons and specifically to these two main aspects is carried out. A preliminary phase investigates the temporal distribution of scientific publications to capture the interest in studying and developing novel ideas, methods or solutions for exoskeleton design, actuation and sensors. The distribution of the works is also analyzed with respect to the device purpose, body part to which the device is dedicated, operation mode and design methods. Subsequently, actuation and sensing solutions for the exoskeletons described by the studies in literature are analyzed in detail, highlighting the main trends in their development and spread. The results are presented with a schematic approach, and cross analyses among taxonomies are also proposed to emphasize emerging peculiarities.

Automated summary

Exoskeletons, which closely interact with humans, have been increasingly used for rehabilitation, assistance in daily activities, performance augmentation, and haptic devices. This review investigates the research activity on exoskeletons with a focus on sensor and actuation technologies. The study analyzes the temporal distribution of scientific publications and the characteristics of exoskeleton designs, actuation methods, and sensors. The development and trends of exoskeleton actuation and sensing solutions are also examined.