Mechatronic Wearable Exoskeletons for Bionic Bipedal Standing and Walking: A New Synthetic Approach

Abstract

During the last few years, interest has been growing to mechatronic and robotic technologies utilized in wearable powered exoskeletons that assist standing and walking. The available literature includes single-case reports, clinical studies conducted in small groups of subjects, and several recent systematic reviews. These publications have fulfilled promotional and marketing objectives but have not yet resulted in a fully optimized, practical wearable exoskeleton. Here we evaluate the progress and future directions in this field from a joint perspective of health professionals, manufacturers, and consumers. We describe the taxonomy of existing technologies and highlight the main improvements needed for the development and functional optimization of the practical exoskeletons.

Keywords: bionic walk assistance; bipedal standing; mechatronic; models; portable/wearable exoskeletons.

Figure 1

The picture of the first author Prof. Dr. Gelu Onose in wheelchair visiting patients in the NeuroRehabilitation Clinic Division of the ‘Bagdasar-Arseni’ Teaching Emergency Hospital, Bucharest, Romania. Reproduced with permission of the TV producer, Romanian Television.

Figure 2

Images of several types of exoskeletons. (A) Mindwalker mind-controlled exoskeleton could help the disabled walk again. With courtesy from Professor van der Kooij at University of Twente, NL. (B) The Keeogo™ exoskeleton from B- TEMIA reveals the latest in an increase of the human systems (human augmentation systems) designed to help people walk more and better. Keeogo™ eliminates several problems in patients with Parkinson's disease. With courtesy from Danielle Beaudoin at b-termia.com. (C,D) The ExoAtlet is a powered exoskeleton designed to assist patients during their rehabilitation after stroke, injury, or unsuccessful operation. ExoAtlet automatically repeats the natural patterns of walking, has electrical stimulation system, and physiological sensors. The control system of the ExoAtlet is unique: it collects data from body angles, allows to set the height and length of the step, which provides: (i) standing still; (ii) classic walking; (iii) walking on angled surface; (iv) stepping over obstacles; and (v) comfortable walking up & down stairs. ExoAtlet can be used in rehabilitation centers and at home. ExoAtlet can be controlled with the app on tablet when used in clinics. Experienced user of ExoAtlet use “thinking” crutch for control. With courtesy from Ekaterina Bereziy at exoatlet.ru.

Figure 3

Concept design of a cross section through lower limb(s)'module of the MOD. 1, Bony area; 2, Muscle area; 3, Skin and sucutaneous soft tissues; 4, Textile material for contact with the skin; 5, Pulsed air flow textile structure; 6, (Eeach) exoskeleton's external part, made of composite material; 7, Metallic insertion; 8, Tubular seating for pull and respectively, electric cables; 9, Fasten system. Reproduced with permission from the publisher (Onose et al., , pp. 1–99).

Figure 4

Mechatronic Orthotic Device (MOD) Left: some relevant images of exoskeletons. Right: Award Diploma by the Geneva International Inventions Fair. Reproduced with permission from the publisher (Onose et al., , pp. 1–99).

Figure 5

General concept design of the MOD. 1, Back segment; 2, Chest belt; 3, Pelvis segment; 4, Pelvis belt; 5, Programs command box; 6, Thigh segment; 7, Hip actuator; 8, Knee actuator; 9, Ankle segment; 10, Foot actuator; 11, Foot segment; 12, Connections box; 13, Pneumatic connect fitting; 14, Bottom holder; 15, Drawer panty hose; 16, Pulsed air flow textile structure; 17, Attachment belt; R, Angular transducers (B, lumbar sacral; S, hip; G, knee; M, ankle); P, Pressure sensor; T, Temperature sensor; U, Humidity sensor; A, Compressed air pressure sensor. Reproduced with permission from the publisher (Onose et al., , pp. 1–99).

Figure 6

MOD: plantar skin protection and pulsed air flow to mimic the “muscles' pump”—thus compensating the returning, venous-lymphatic circulation, in the lower limbs—concepts. Reproduced with permission from the publisher (Onose et al., , pp. 1–99).