A review on human intent understanding and compliance control strategies for lower limb exoskeletons

Author:

Yang Jiantao1ORCID,He Yong23,Shi Ping1,Yu Hongliu1

Affiliation:

1. Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China

2. Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China

3. Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, China

Abstract

The exoskeleton has emerged as a promising technology to enhance humans’ strength and boost users’ efficiency. In order to provide congruent human–machine interaction for assisting the users, exoskeletons should have knowledge of human’s planned action and accordingly command the robot by the designed controller. It means the ubiquitous aspect of exoskeletons lies on motion intent understanding and active compliance control. In the last decade, extensive research has been conducted on the two topics. However, no major breakthrough has been made. Thus, a systematic review and analysis on this very subject is of great significance in developing exoskeletons. Within this context, this review first surveys the history of lower limb exoskeletons to summarize the various technologies for realizing transparent human exoskeleton coordination. Then, an overview about motion intent understanding and compliance control strategies are presented in detail. Furthermore, the future trend and research directions are also outlined.

Funder

national key research and development program of china

national natural science foundation of china

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Cited by 8 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Interactive Control of Lower Limb Exoskeleton Robots: A Review;IEEE Sensors Journal;2024-03-01

2. Human Lower Limb Motion Intention Recognition for Exoskeletons: A Review;IEEE Sensors Journal;2023-12-15

3. A wearable system to assist impaired-neck patients: Design and evaluation;Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine;2023-11-29

4. Nonlinear-Observer-Based Neural Fault-Tolerant Control for a Rehabilitation Exoskeleton Joint with Electro-Hydraulic Actuator and Error Constraint;Applied Sciences;2023-07-18

5. Development of a hierarchical control strategy for a soft knee exoskeleton based on wearable multi-sensor system;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2023-04-05

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