Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Yang, Canjun; Yu, Linfan; Xu, Linghui; Yan, Zehao; Hu, Dongming; Zhang, Sheng; Yang, Wei

doi:10.1017/wtc.2022.11

Cited by 14 publications

(13 citation statements)

References 138 publications

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“…Today, the exoskeletons' technology progress have been studied and reviewed comprehensively [21][22][23]. Regarding powered hip robots, there are some reviews in terms of design and control [22,24]. However, we found no comprehensive review in terms of clinical gait outcomes with powered single joint hip exoskeletons.…”

Section: Introductionmentioning

confidence: 94%

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Powered Hip Exoskeletons for Gait Rehabilitation: A Systematic Review and Meta-analysis

Daliri

Ghorbani

Akbarzadeh

et al. 2023

Preprint

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Background: Gait disorders and as a consequence, robotic rehabilitation techniques are becoming increasingly prevalent as the population ages. In the area of rehabilitation robotics, using lightweight single hip joint exoskeletons are of significance. Considering no prior systematic review article on clinical outcomes, we aim to systematically review powered hip exoskeletons in terms of gait parameters and metabolic expenditure effects. Methods: Three databases of PubMed, Scopus, and Web of science were searched for clinical articles comparing outcomes of gait rehabilitation using hip motorized exoskeleton with conventional methods, on patients with gait disorder or healthy individuals. Of total number of 37 reviewed articles, 14 trials were quantitatively analyzed. Analyses performed in terms of gait spatiotemporal parameters like speed (self-speed and maximum speed), step length, stride length, cadence, and oxygen consumption. Results: Improved clinical outcomes of gait spatiotemporal parameters with hip joint exoskeletons are what our review's findings show. In terms of gait values, meta-analysis indicates that rehabilitation with single hip joint exoskeleton enhanced parameters of max speed (P = 0.018) and stride length (P = 0.01). Subgroup analysis showed that cadence improved among healthy elderly people (P = 0.050). For the remaining investigated gait parameters, no statistically significant difference was observed. Regarding metabolic parameters, oxygen consumption was lower in individuals treated with hip exoskeleton (P = 0.007). Conclusion: Although the analysis demonstrated improvement with just specific gait measures utilizing powered hip exoskeletons, the lack of improvement in all parameters is likely caused by the high patient condition heterogeneity among the evaluated articles. We also noted in patients who rehabilitated with the hip exoskeleton, the oxygen cost was lower. More randomized controlled trials are needed to verify both the short- and long-term clinical outcomes, including patient-reported measures. Level of evidence: Level I (systematic review and meta-analysis)

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Section: Introductionmentioning

confidence: 94%

Section: Introductionmentioning

confidence: 99%

Powered Hip Exoskeletons for Gait Rehabilitation: A Systematic Review and Meta-analysis

Daliri

Ghorbani

Akbarzadeh

et al. 2023

Preprint

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“…According to the action, the developments have three subcategories: passive [43], semiactive, and active [44]. The category of active exoskeletons refers to systems that employ actuators driven with additional energy, such as pneumatic and hydraulic actuators [45,46].…”

Section: Developments In Exoskeletons For Occupational Health and Safetymentioning

confidence: 99%

Exoskeletons: Contribution to Occupational Health and Safety

Flor-Unda,

Casa,

Fuentes

et al. 2023

Bioengineering

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This review aims to characterize the current landscape of exoskeletons designed to promote medical care and occupational safety in industrial settings. Extensive exploration of scientific databases spanning industries, health, and medicine informs the classification of exoskeletons according to their distinctive attributes and specific footholds on the human physique. Within the scope of this review, a comprehensive analysis is presented, contextualizing the integration of exoskeletons based on different work activities. The reviewers extracted the most relevant articles published between 2008 and 2023 from IEEE, Proquest, PubMed, Science Direct, Scopus, Web of Science, and other databases. In this review, the PRISMA-ScR checklist was used, and a Cohen’s kappa coefficient of 0.642 was applied, implying moderate agreement among the reviewers; 75 primary studies were extracted from a total of 344. The future of exoskeletons in contributing to occupational health and safety will depend on continued collaboration between researchers, designers, healthcare professionals, and industries. With the continued development of technologies and an increasing understanding of how these devices interact with the human body, exoskeletons will likely remain valuable for improving working conditions and safety in various work environments.

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“…where the max/min time values tˆθ max and tˆθ min correspond to the timings of the max/min shifted and scaled angles of the previous gait phase. We proposed two hypotheses as follows: (1) x LAED is different in the state of walking and standing so that threshold x thr can be used to determine the current locomotion state; and (2) x thr in various walking scenarios is different, which may also be affected by assistive torque, walking speed and other factors. Comparing x LAED with a certain LAED threshold x thr , the locomotion state can be classified; state = walking, x LAED ≥ x thr standing, x LAED < x thr (13) With the help of adaptive phase shift and scale, the difference of gait portrait in phase plane is much clearer between the state of walking and standing.…”

Section: Po Optimizationmentioning

confidence: 99%

“…Lower limb exoskeletons are promising solutions to enhance human locomotion performance and assist walking rehabilitation [1][2][3]. Recent advances in the newest-generation robotic exoskeletons [4][5][6][7] have demonstrated great potential to reduce metabolic expenditure [4,6,[8][9][10] and muscle activity [11,12] and concerned user preference within the control loop [13,14] as well.…”

Section: Introductionmentioning

confidence: 99%

Phase oscillator optimization eliminates jittering during transition gaits in multimodal locomotion assisted by a portable hip exoskeleton

Yang,

Yan,

et al. 2023

Robotica

Self Cite

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To be successfully used in daily life situations, exoskeletons should be effective across multimodal scenarios, including walking on various terrains, and transitions between locomotion modes such as walking-to-stop. Correct continuous gait phase estimation is essential for high-level walking assistance control. Despite the impressive advances in gait phase estimation for a variety of locomotion modes, transition gait phase estimation is rarely researched, leading to the jittering of exoskeletons during walking-to-stop transitions. We propose an optimized phase oscillator (PO-opt) that estimates the gait phase correctly during transition gaits in multimodal locomotion, which is beneficial to eliminating the jittering. In the phase plane, a lateral axis extreme difference (LAED) is adopted to classify transition gaits. The threshold of LAED for transition gaits in multimodal locomotion was preliminarily determined by simulation, which was then applied and validated in experiments. Simulation results indicated that a threshold of 15.0 was suitable for transition gaits classification during treadmill walking, free walking, and ramp ascent/descent, while results of the experiment showed that a threshold between 6.5 and 10.5 was applicable for treadmill walking, free walking, and stair ascent/descent. In particular, the jittering elimination rates for 3, 4, and 5 km/h treadmill walking were improved from 29%, 21%, and 4% (PO model) to 100%, respectively, when the threshold of LAED was set at 15.0 in PO-opt model. The results indicated a significant increase in the rate of jittering elimination when the PO-opt model was applied. The model holds great promise in real-world applications for prostheses and other types of exoskeletons.

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Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Cited by 14 publications

References 138 publications

Powered Hip Exoskeletons for Gait Rehabilitation: A Systematic Review and Meta-analysis

Powered Hip Exoskeletons for Gait Rehabilitation: A Systematic Review and Meta-analysis

Exoskeletons: Contribution to Occupational Health and Safety

Phase oscillator optimization eliminates jittering during transition gaits in multimodal locomotion assisted by a portable hip exoskeleton

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