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

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...

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Published inJournal 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
LanguageEnglish
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
Online AccessGet full text

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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.
AbstractList 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.
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.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.
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. Keywords: Assistance, Compliant actuation, Mechanical compliance, Mechanical design, Lower limb exoskeleton, Rehabilitation
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.
ArticleNumber 55
Audience Academic
Author Torricelli, Diego
Moreno, Juan C.
Gonzalez-Vargas, Jose
Pons, Jose L.
Sanchez-Villamañan, Maria del Carmen
Author_xml – sequence: 1
  givenname: Maria del Carmen
  surname: Sanchez-Villamañan
  fullname: Sanchez-Villamañan, Maria del Carmen
– sequence: 2
  givenname: Jose
  surname: Gonzalez-Vargas
  fullname: Gonzalez-Vargas, Jose
– sequence: 3
  givenname: Diego
  surname: Torricelli
  fullname: Torricelli, Diego
– sequence: 4
  givenname: Juan C.
  surname: Moreno
  fullname: Moreno, Juan C.
– sequence: 5
  givenname: Jose L.
  surname: Pons
  fullname: Pons, Jose L.
BackLink https://www.ncbi.nlm.nih.gov/pubmed/31072370$$D View this record in MEDLINE/PubMed
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Issue 1
Keywords Mechanical compliance
Lower limb exoskeleton
Mechanical design
Rehabilitation
Compliant actuation
Assistance
Language English
License Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.
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Snippet Exoskeleton technology has made significant advances during the last decade, resulting in a considerable variety of solutions for gait assistance and...
Abstract Exoskeleton technology has made significant advances during the last decade, resulting in a considerable variety of solutions for gait assistance and...
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StartPage 55
SubjectTerms 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
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Title Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles
URI https://www.ncbi.nlm.nih.gov/pubmed/31072370
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Volume 16
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