Design and development of lower limb exoskeletons

A survey

Research output: Contribution to journalShort survey

18 Citations (Scopus)

Abstract

Research into the development of the lower limb exoskeleton (LLE) has been on-going since the 1960s. Although this field has long been explored, the technological progress has been very slow. Many exoskeletons were stopped in their tracks toward commercialization at the research stage itself. Therefore, this paper is aimed at systematically reviewing the design and development of multiple joint LLEs. The discussion focuses on the application of LLEs for augmentation, muscle weakness or gait recovery and rehabilitation. Details of aspects such as the control strategy, actuator, safety and design, including compactness, noise, heavy structural weight, cost, mimicking of natural walking, and power sources, will be discussed. Finally, issues concerning the design and development of LLEs will also be presented.

Original languageEnglish
Pages (from-to)102-116
Number of pages15
JournalRobotics and Autonomous Systems
Volume95
DOIs
Publication statusPublished - 1 Sep 2017

Fingerprint

Rehabilitation
Gait
Augmentation
Patient rehabilitation
Muscle
Compactness
Control Strategy
Actuator
Actuators
Recovery
Safety
Costs
Design

Keywords

  • Exoskeleton
  • Exoskeleton design
  • Lower limb exoskeleton
  • Powered exoskeletons

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Design and development of lower limb exoskeletons : A survey. / Aliman, Norazam; Ramli, Rizauddin; Mohamed Haris, Sallehuddin.

In: Robotics and Autonomous Systems, Vol. 95, 01.09.2017, p. 102-116.

Research output: Contribution to journalShort survey

@article{2f3b763a4d6448eb825f686c0e321bdb,
title = "Design and development of lower limb exoskeletons: A survey",
abstract = "Research into the development of the lower limb exoskeleton (LLE) has been on-going since the 1960s. Although this field has long been explored, the technological progress has been very slow. Many exoskeletons were stopped in their tracks toward commercialization at the research stage itself. Therefore, this paper is aimed at systematically reviewing the design and development of multiple joint LLEs. The discussion focuses on the application of LLEs for augmentation, muscle weakness or gait recovery and rehabilitation. Details of aspects such as the control strategy, actuator, safety and design, including compactness, noise, heavy structural weight, cost, mimicking of natural walking, and power sources, will be discussed. Finally, issues concerning the design and development of LLEs will also be presented.",
keywords = "Exoskeleton, Exoskeleton design, Lower limb exoskeleton, Powered exoskeletons",
author = "Norazam Aliman and Rizauddin Ramli and {Mohamed Haris}, Sallehuddin",
year = "2017",
month = "9",
day = "1",
doi = "10.1016/j.robot.2017.05.013",
language = "English",
volume = "95",
pages = "102--116",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",

}

TY - JOUR

T1 - Design and development of lower limb exoskeletons

T2 - A survey

AU - Aliman, Norazam

AU - Ramli, Rizauddin

AU - Mohamed Haris, Sallehuddin

PY - 2017/9/1

Y1 - 2017/9/1

N2 - Research into the development of the lower limb exoskeleton (LLE) has been on-going since the 1960s. Although this field has long been explored, the technological progress has been very slow. Many exoskeletons were stopped in their tracks toward commercialization at the research stage itself. Therefore, this paper is aimed at systematically reviewing the design and development of multiple joint LLEs. The discussion focuses on the application of LLEs for augmentation, muscle weakness or gait recovery and rehabilitation. Details of aspects such as the control strategy, actuator, safety and design, including compactness, noise, heavy structural weight, cost, mimicking of natural walking, and power sources, will be discussed. Finally, issues concerning the design and development of LLEs will also be presented.

AB - Research into the development of the lower limb exoskeleton (LLE) has been on-going since the 1960s. Although this field has long been explored, the technological progress has been very slow. Many exoskeletons were stopped in their tracks toward commercialization at the research stage itself. Therefore, this paper is aimed at systematically reviewing the design and development of multiple joint LLEs. The discussion focuses on the application of LLEs for augmentation, muscle weakness or gait recovery and rehabilitation. Details of aspects such as the control strategy, actuator, safety and design, including compactness, noise, heavy structural weight, cost, mimicking of natural walking, and power sources, will be discussed. Finally, issues concerning the design and development of LLEs will also be presented.

KW - Exoskeleton

KW - Exoskeleton design

KW - Lower limb exoskeleton

KW - Powered exoskeletons

UR - http://www.scopus.com/inward/record.url?scp=85028319532&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85028319532&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2017.05.013

DO - 10.1016/j.robot.2017.05.013

M3 - Short survey

VL - 95

SP - 102

EP - 116

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

ER -