Review of control strategies for lower-limb exoskeletons to assist gait
Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a
large range of control methods. The goal of this paper is to review and classify these control …
large range of control methods. The goal of this paper is to review and classify these control …
Soft robotic suits: State of the art, core technologies, and open challenges
M Xiloyannis, R Alicea, AM Georgarakis… - IEEE Transactions …, 2021 - ieeexplore.ieee.org
Wearable robots are undergoing a disruptive transition, from the rigid machines that
populated the science-fiction world in the early 1980s to lightweight robotic apparel, hardly …
populated the science-fiction world in the early 1980s to lightweight robotic apparel, hardly …
Human-in-the-loop control of soft exosuits using impedance learning on different terrains
Many previous works of soft wearable exoskeletons (exosuit) target at improving the human
locomotion assistance, without considering the impedance adaption to interact with the …
locomotion assistance, without considering the impedance adaption to interact with the …
A hip–knee–ankle exoskeleton emulator for studying gait assistance
Lower-limb exoskeletons could improve the mobility of people with disabilities, older adults,
workers, first responders, and military personnel. Despite recent advances, few products are …
workers, first responders, and military personnel. Despite recent advances, few products are …
Soft wearable robots: development status and technical challenges
In recent years, more and more research has begun to focus on the flexible and lightweight
design of wearable robots. During this process, many novel concepts and achievements …
design of wearable robots. During this process, many novel concepts and achievements …
Modeling and stiffness-based continuous torque control of lightweight quasi-direct-drive knee exoskeletons for versatile walking assistance
State-of-the-art exoskeletons are typically limited by the low control bandwidth and small-
range stiffness of actuators, which are based on high gear ratios and elastic components …
range stiffness of actuators, which are based on high gear ratios and elastic components …
Neuromechanical model-based adaptive control of bilateral ankle exoskeletons: Biological joint torque and electromyogram reduction across walking conditions
G Durandau, WF Rampeltshammer… - IEEE Transactions …, 2022 - ieeexplore.ieee.org
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial
settings, it is crucial they can adaptively support large repertoires of movements. We …
settings, it is crucial they can adaptively support large repertoires of movements. We …
A survey on soft lower limb cable-driven wearable robots without rigid links and joints
AM Khomami, F Najafi - Robotics and Autonomous Systems, 2021 - Elsevier
Traditional wearable robots mostly consist of rigid structures connected to the human body.
Due to the inherent characteristics of human joints, it is unavoidable that the robot joints …
Due to the inherent characteristics of human joints, it is unavoidable that the robot joints …
Real-time gait phase estimation based on neural network and assistance strategy based on simulated muscle dynamics for an ankle exosuit
Z Wang, C Chen, F Yang, Y Liu, G Li… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
Soft exosuits have been demonstrated to possess the potential to reduce metabolism and
muscle fatigue in human locomotion. How to maximize the user's metabolic benefit and …
muscle fatigue in human locomotion. How to maximize the user's metabolic benefit and …
Soft exosuit based on fabric muscle for upper limb assistance
Upper limb exosuits (ULEs) are wearable robots that can assist arms to lift or support an
object. However, heavy wearable equipment often interferes with the free movement of a …
object. However, heavy wearable equipment often interferes with the free movement of a …