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Review
. 2024 Dec 18;24(24):8090.
doi: 10.3390/s24248090.

Review on Portable-Powered Lower Limb Exoskeletons

Chunyu Jiang  1 , Junlong Xiao  1 , Haochen Wei  1 , Michael Yu Wang  1 , Chao Chen  1
Affiliations
Review

Review on Portable-Powered Lower Limb Exoskeletons

Chunyu Jiang et al. Sensors (Basel). .

Abstract

Advancements in science and technology have driven the growing use of robots in daily life, with Portable-Powered Lower Limb Exoskeletons (PPLLEs) emerging as a key innovation. The selection of mechanisms, control strategies, and sensors directly influences the overall performance of the exoskeletons, making it a crucial consideration for research and development. This review examines the current state of PPLLE research, focusing on the aspects of mechanisms, control strategies, and sensors. We discuss the current research status of various technologies, their technological compatibility, and respective benefits comprehensively. Key findings highlight effective designs and strategies, as well as future challenges and opportunities. Finally, we summarize the overall status of PPLLE research and attempt to shed light on the future potential directions of research and development.

Keywords: control strategy; design; fusion; lower limb exoskeleton; sensors.

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Conflict of interest statement

The authors declare no conflicts of interest.

Figures

Figure 1
Figure 1
The exoskeleton control flow chart. First, the sensors collect physical and physiological data. Secondly, the received data were used to determine the user’s motion intention and plan the corresponding trajectory. Then, the activity signal was transmitted to the actuator for accurate motion execution.
Figure 2
Figure 2
Flowchart of different control strategies. (a) for impedance control, (b) for fuzzy control, and (c) for predictive control.
Figure 3
Figure 3
Common attachment locations of sensors.
See this image and copyright information in PMC

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