Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles

• Published in: Journal of neuroengineering and rehabilitation Vol. 16; no. 1; pp. 55 - 16
• Main Authors: Sanchez-Villamañan, Maria del Carmen, Gonzalez-Vargas, Jose, Torricelli, Diego, Moreno, Juan C., Pons, Jose L.
• Format: Journal Article
• Language: English
• Published: England BioMed Central Ltd 09.05.2019; BioMed Central; BMC
• Subjects: Actuation; Adaptability; Ankle; Artificial legs; Assistance; Automation; Biomechanics; Compliant actuation; Data sheets; Design and construction; End users; Equipment Design; Exoskeleton; Exoskeleton Device; Exoskeletons; Feasibility studies; Gait; Humans; International conferences; Lower Extremity; Lower limb exoskeleton; Mechanical compliance; Mechanical design; Mechanical engineering; Mechanical properties; Rehabilitation; Review; Robotics; Robots; Technology; Walking; Singapore; Mechanical compliance; Lower limb exoskeleton; Mechanical design; Rehabilitation; Compliant actuation; Assistance
• ISSN: 1743-0003; 1743-0003
• DOI: 10.1186/s12984-019-0517-9

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.