LOWER LIMB ASSISTANCE SYSTEMS: A STATE OF THE ART

Abstract

In this paper, we present a state of the art regarding lower limb assistance systems. That is, exoskeletons, exosuits, actuated orthoses and smart walkers intended to assist users with or without walking difficulties in such task. We focus on those systems headed towards motion intention prediction, especially those that implement myosignals in order to control the system. However, there are some using cortical or encephaloelectric signals. We make clear the importance of developing this technology for the sake of user’s health, when regarding people with reduced motor capacity. After the reviewed systems, we bring forward our own system intended to assist hemiplegic/hemiparetic patients walking by predicting motion intention. The main differentiator of our design shall be energy saving as it is being designed to actuate the hip only during swing phase. Thus, hypothetically allowing the system to save 40% energy, compared to the same system actuated during the whole walking cycle.