Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Masengo, Gilbert; Zhang, Xiaodong; Dong, Runlin; Alhassan, Ahmad Bala; Hamza, Khaled; Mudaheranwa, Emmanuel

doi:10.3389/fnbot.2022.913748

Cited by 23 publications

(2 citation statements)

References 178 publications

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“…The lower extremity exoskeleton is a human–machine integrated device that supports and assists lower limb motion of human user. Recently, different types of lower extremity exoskeleton have been developed for force augment of able-bodied users or gait training of pathological gait patients (Eguren and Contreras-Vidal, 2020; Plaza et al , 2021; Kapsalyamov et al , 2019; Sun et al , 2022; Masengo et al ., 2023). The representative exoskeletons for carrying heavy loads include BLEEX (Kazerooni et al , 2006; Zoss et al , 2006; Kazerooni and Steger, 2006) HULC (Martin, 2019) and XOS (Raytheon Company, 2019).…”

Section: Introductionmentioning

confidence: 99%

Design and preliminary evaluation of a lower limb exoskeleton based on hydraulic actuator

Han,

Liu,

Chang

et al. 2023

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Purpose This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer. Design/methodology/approach In this paper, the valve-controlled asymmetrical hydraulic cylinder is selected for driving the hip and knee joint of exoskeleton. Pressure shoe is developed that purpose on detecting changes in plantar force, and a fuzzy recognition algorithm using plantar pressure is proposed. Dynamic model of the exoskeleton is established, and the sliding mode control is developed to implement the position tracking of exoskeleton. A series of prototype experiments including benchtop test, full assistance, partial assistance and loaded walking experiments are set up to verify the tracking performance and power-assisted effect of the proposed exoskeleton. Findings The control performance of PID control and sliding mode control are compared. The experimental data shows the tracking trajectories and tracking errors of sliding mode control and demonstrate its good robustness to nonlinearities. sEMG of the gastrocnemius muscle tends to be significantly weakened during assisted walking. Originality/value In this paper, a structure that the knee joint and hip joint driven by the valve-controlled asymmetrical cylinder is used to provide walking assistance for the wearer. The sliding mode control is proposed to deal with the nonlinearities during joint rotation and fluids. It shows great robustness and frequency adaptability through experiments under different motion frequencies and assistance modes. The design and control method of exoskeleton is a good attempt, which takes positive impacts on the productivity or quality of the life of wearers.

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Section: Introductionmentioning

confidence: 99%

Design and preliminary evaluation of a lower limb exoskeleton based on hydraulic actuator

Han,

Liu,

Chang

et al. 2023

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“…These exoskeletons have proven beneficial for rehabilitation as they improve gait functionality and reduce the metabolic cost of walking [3]. Innovative development is required to meet the specific needs of the elderly population [4] [5].…”

Section: Introductionmentioning

confidence: 99%

Swift Augmented Human-Robot Dynamics Modeling for Rehabilitation Planning Analyses

Akbari,

Mahdizadeh,

Moosavian

et al. 2023

Preprint

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With the widespread implementation of robotics exoskeletons in rehabilitation, modeling and dynamics analysis of such highly nonlinear coupled systems has become significantly important. In this paper, a swift numerical human-robot dynamics modeling has been developed to achieve accurate and realistic interpretation. This takes into consideration the separation and impact between multiple bodies for rehabilitation planning. To this end, first, a novel parallel algorithm combined with sequential interaction conditions is proposed based on the numerical Recursive Newton-Euler method. The approach begins by deriving separated numerical models for the complicated system: i.e. both the human and the robot. These models are then augmented, with a primary focus on reducing the error of the interaction conditions, including positions and forces. To evaluate the proposed model accuracy, the results are compared with a previously validated non-recursive analytical model. Additionally, the quality of the connection between the human and the robot is assessed to establish a suitable control objective and an effective interaction strategy for rehabilitation planning. The study employs a lower-limb walking assistive robot developed in the ARAS lab (RoboWalk) to validate the proposed method. The algorithm is empirically implemented on the RoboWalk test stand, ensuring the integrity of the proposed dynamics modeling. Finally, the effectiveness of the model-based controller is assessed by using the proposed method, providing valuable tools for the enhancement of overall performance of such a complex dynamics system.

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Swift augmented human–robot dynamics modeling for rehabilitation planning analyses

Akbari,

Mahdizadeh,

Moosavian

et al. 2024

Multibody Syst Dyn

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Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Cited by 23 publications

References 178 publications

Design and preliminary evaluation of a lower limb exoskeleton based on hydraulic actuator

Design and preliminary evaluation of a lower limb exoskeleton based on hydraulic actuator

Swift Augmented Human-Robot Dynamics Modeling for Rehabilitation Planning Analyses

Swift augmented human–robot dynamics modeling for rehabilitation planning analyses

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