Abstract:Purpose
Walking-aid exoskeletons can assist and protect effectively the group with lower limb muscle strength decline, workers, first responders and military personnel. However, there is almost no united control strategy that can effectively assist daily walking. This paper aims to propose a hybrid oscillators’ (HOs) model to adapt to irregular gait (IG) patterns (frequent alternation between walking and standing or rapid changing of walking speed, etc.) and generate compliant and no-delay assistive torque.
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“…The typical prototypes of robotic hip exoskeletons with active or passive actuation joints are shown in Figure 2. Figure 2. Hip exoskeleton with different actuators. (a) Motor with gear reducer (Shimada et al, 2009; Yasuhara et al, 2009; Buesing et al, 2015; Yang et al, 2021). (b) SEA (Giovacchini et al, 2015; Kang et al, 2018; Zhang et al, 2019a).…”
Section: The Framework Of Actuation Jointsmentioning
confidence: 99%
“…(a) Database (Seo et al, 2016). (b,c) Function with adjustable parameters (Lim et al, 2019; Yang et al, 2021). (d) Human-in-the-loop optimization (Zhang et al, 2017).…”
Section: Control Strategy Of Robotic Hip Exoskeletonmentioning
confidence: 99%
“…Totally, 11 and 20 Hz bandwidths for the full and small force ranges respectively are realized with this actuation system. Collins designed several prototypes with a tethered-type exoskeleton (Shimada et al, 2009;Yasuhara et al, 2009;Buesing et al, 2015;Yang et al, 2021). (b) SEA (Giovacchini et al, 2015;Kang et al, 2018;Zhang et al, 2019a).…”
Section: Motor With Bowden Cablementioning
confidence: 99%
“…Felt et al (2015) demonstrated (Xue et al, 2019). (b) Function-based on gait phase and assist torque factor (Yang et al, 2021). (c,d) Human-in-the-loop optimization (Ding et al, 2018;Chiu et al, 2021).…”
“…Hip exoskeleton with different actuators. (a) Motor with gear reducer(Shimada et al, 2009;Yasuhara et al, 2009;Buesing et al, 2015;Yang et al, 2021). (b) SEA(Giovacchini et al, 2015;Kang et al, 2018;Zhang et al, 2019a).…”
The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.
“…The typical prototypes of robotic hip exoskeletons with active or passive actuation joints are shown in Figure 2. Figure 2. Hip exoskeleton with different actuators. (a) Motor with gear reducer (Shimada et al, 2009; Yasuhara et al, 2009; Buesing et al, 2015; Yang et al, 2021). (b) SEA (Giovacchini et al, 2015; Kang et al, 2018; Zhang et al, 2019a).…”
Section: The Framework Of Actuation Jointsmentioning
confidence: 99%
“…(a) Database (Seo et al, 2016). (b,c) Function with adjustable parameters (Lim et al, 2019; Yang et al, 2021). (d) Human-in-the-loop optimization (Zhang et al, 2017).…”
Section: Control Strategy Of Robotic Hip Exoskeletonmentioning
confidence: 99%
“…Totally, 11 and 20 Hz bandwidths for the full and small force ranges respectively are realized with this actuation system. Collins designed several prototypes with a tethered-type exoskeleton (Shimada et al, 2009;Yasuhara et al, 2009;Buesing et al, 2015;Yang et al, 2021). (b) SEA (Giovacchini et al, 2015;Kang et al, 2018;Zhang et al, 2019a).…”
Section: Motor With Bowden Cablementioning
confidence: 99%
“…Felt et al (2015) demonstrated (Xue et al, 2019). (b) Function-based on gait phase and assist torque factor (Yang et al, 2021). (c,d) Human-in-the-loop optimization (Ding et al, 2018;Chiu et al, 2021).…”
“…Hip exoskeleton with different actuators. (a) Motor with gear reducer(Shimada et al, 2009;Yasuhara et al, 2009;Buesing et al, 2015;Yang et al, 2021). (b) SEA(Giovacchini et al, 2015;Kang et al, 2018;Zhang et al, 2019a).…”
The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.
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