Wearable lower limb robotics: A review

Biocybernetics and Biomedical Engineering

Volumn 33, Issue 2, 2013, Pages 96-105

  Viteckova, Slavka ^a   Kutilek, Patrik ^a   Jirina, Marcel ^a  

^a CZECH TECHNICAL UNIVERSITY IN PRAGUE   (Czech Republic)

Author keywords

Active orthosis; Exoskeleton; Lower limbs; Rehabilitative robotic; Wearable robotic

Indexed keywords

ALGORITHM; BIOMEDICAL ENGINEERING; BODY MOVEMENT; EXOSKELETON; GAIT; HUMAN; LEG PROSTHESIS; ORTHOSIS; ORTHOTICS; PRIORITY JOURNAL; REVIEW; ROBOTICS; WALKING;

EID: 84880543474     PISSN: 02085216     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.bbe.2013.03.005     Document Type: Review

References (85)

1. Kawamoto H, Lee S, Kanbe S, Sankai Y. Power assist method for hal-3 using EMG-based feedback controller. In: IEEE International Conference on Systems, Man and Cybernetics; 2003. pp. 1648-53.
2. Kawamoto H, Hayashi T, Sakurai T, Eguchi K, Sankai Y. Development of single leg version of hal for hemiplegia. In: Annual International Conference of the IEEE, Engineering in Medicine and Biology Society. EMBC 2009; 2009. pp. 5038-43.
3. Mori Y, Taniguchi T, Inoue K, Fukuoka Y, Shiroma N. Development of a standing style transfer system able with novel crutches for a person with disabled lower limbs. J Syst Des Dyn 2011;5(1):83-93.
4. ReWalk. April. Available at: http://www.argomedtec.com.
5. Ekso bionics-for the human endeavor; 2011. Available at: http://berkeleybionics.com/exoskeletons-rehab-mobility/.
6. Strausser K, Swift T, Zoss A, Kazerooni H. Prototype medical exoskeleton for paraplegic mobility: first experimental results. In: 3rd Annual Dynamic Systems and Control Conference; 2010. pp. 453-8 [abstract].
7. Swift T, Strausser K, Zoss A, Kazerooni H. Control and experimental results for post stroke gait rehabilitation with a prototype mobile medical exoskeleton. In: 3rd Annual Dynamic Systems and Control Conference; 2010. pp. 405-11[abstract].
8. Rex; 2010. Available at: www.rexbionics.com.
9. Kong K, Moon H, Hwang B, Jeon D, Tomizuka M. Impedance compensation of SUBAR for back-drivable force-mode actuation. IEEE Trans Robot 2009;25(June (3)): 512-21.
10. Cao H, Ling Z, Zhu J, Wang Y, Wang W. Design frame of a leg exoskeleton for load-carrying augmentation. In: IEEE International Conference on Robotics and Biomimetics (ROBIO); 2009. pp. 426-31.
11. Kiguchi K, Imada Y. EMG-based control for lower-limb power-assist exoskeletons. In: IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS'09; 2009. pp. 19-24.
12. Kwa HK, Noorden JH, Missel M, Craig T, Pratt JE, Neuhaus PD. Development of the IHMC mobility assist exoskeleton. In: IEEE International Conference on Robotics and Automation. ICRA'09; 2009. pp. 2556-62.
13. Hayashi Y, Kiguchi K. A lower-limb power-assist robot with perception-assist. In: IEEE International Conference on Rehabilitation Robotics (ICORR); 2011. pp. 1-6.
14. Quintero HA, Farris RJ, Goldfarb M. Control and implementation of a powered lower limb orthosis to aid walking in paraplegic individuals. In: IEEE International Conference on Rehabilitation Robotics (ICORR); 2011. pp. 1-6.
15. Kong K, Jeon D. Design and control of an exoskeleton for the elderly and patients. IEEE/ASME Trans Mechatron 2006; 11(August (4)):428-32.
16. Kong K, Moon H, Jeon D, Tomizuka M. Control of an exoskeleton for realization of aquatic therapy effects. IEEE/ASME Trans Mechatron 2010;15(April (2)):191-200.
17. Raj AK, Neuhaus PD, Moucheboeuf AM, Noorden JH, Lecoutre DV. Mina: a sensorimotor robotic orthosis for mobility assistance. J Robot 2011. Article ID: 284352, doi:10.1155/2011/284352.
18. Hayashi Y, Kiguchi K. Stairs-ascending/descending assist for a lower-limb power-assist robot considering ZMP. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2011. pp. 1755-60.
19. Araújo MV, Alsina PJ, de Madeiros AAD, Pereira JPP, Domingos EC, Araújo FMU, Silva JS. Development of an active orthosis prototype for lower limbs. In: 20th International Congress of Mechanical Engineering (COBEM 2009); 2009.
20. Johnson DC, Repperger DW, Thompson G. Development of a mobility assist for the paralyzed, amputee, and spastic patient. In: Proceedings of the 15th Southern Biomedical Engineering Conference; 1996. pp. 67-70.
21. Misuraca JJ, Mavroidis C. Lower limb human muscle enhancer. In: Proceedings of the ASME International Mechanical Engineering Conference and Exposition (IMECE); 2001. pp. 1-7.
22. Hata N, Hori Y. Realization of robotic-suit for walking assistance. In: SICE 2004 Annual Conference, vol. 3; 2004. pp. 2266-71.
23. Acosta-Marquez C, Bradley DA. The analysis, design and implementation of a model of an exoskeleton to support mobility. In: 9th International Conference on Rehabilitation Robotics. ICORR; 2005. pp. 99-102.
24. Nakamura T, Saito K, Wang Z, Kosuge K. Control of modelbased wearable anti-gravity muscles support system for standing up motion. In: Proceedings IEEE/ASME International Conference on Advanced Intelligent Mechatronics; 2005. pp. 564-569.
25. Honda-Walk Assist and Mobility Devices; 2011[accessed 24.02.11].
26. Kim J, Hwang S, Kim Y. Development of an active anklefoot orthosis for hemiplegic patients. In: i-CREATe'07: Proceedings of the 1st International Convention on Rehabilitation Engineering & Assistive Technology; 2007. pp. 110-3.
27. Kim J, Hwang S, Sohn R, Lee Y, Kim Y. Development of an active ankle foot orthosis to prevent foot drop and toe drag in hemiplegic patients: a preliminary study. Appl Bionics Biomech 2011;8(3):377-84.
28. Yoshizawa N. Powered AFO for achilles tendon rupture. In: 30th Annual International Conference of the IEEE, Engineering in Medicine and Biology Society. EMBS; 2008. pp. 4250-3.
29. Yoshizawa N. Prototype active AFO with ankle joint brake for achilles tendon ruptures. In: 3rd International Conference on Biomedical Engineering and Informatics (BMEI), vol. 4; 2010. pp. 1775-8.
30. Fan Y, Yin Y. Mechanism design and motion control of a parallel ankle joint for rehabilitation robotic exoskeleton. In: 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO); 2009. pp. 2527-32.
31. Fan Y, Guo Z, Yin Y. sEMG-based neuro-fuzzy controller for a parallel ankle exoskeleton with proprioception. Int J Robot Autom 2011;26(4):450-60.
32. Zhu J, Wang Q, Huang Y, Wang L. Adding compliant joints and segmented foot to bio-inspired below-knee exoskeleton. In: IEEE International Conference on Robotics and Automation (ICRA); 2011. pp. 605-10.
33. Shorter KA. The design and control of active ankle-foot orthoses. University of Illinois, 2011.
34. Fleischer C, Wege A, Kondak K, Hommel G. Application of EMG signals for controlling exoskeleton robots. Biomedizinische Technik 2006;51(February (5-6)):314-9.
35. Yoshizawa N. Gait trials of an active AFO for achilles tendon ruptures. In: IEEE International Conference on Rehabilitation Robotics. ICORR; 2009. pp. 253-6.
36. Lee JW, Lee GK. Gait angle prediction for lower limb orthotics and prostheses using an EMG signal and neural networks. Int J Control Autom Syst 2005;3:152-8.
37. Lim HB, Hoon KH, Soh YC, Tow A, Low KH. Gait planning for effective rehabilitation-from gait study to application in clinical rehabilitation. In: IEEE International Conference on Rehabilitation Robotics. ICORR; 2009. pp. 271-6.
38. Marchal-Crespo L, Reinkensmeyer D. Review of control strategies for robotic movement training after neurologic injury. J NeuroEng Rehabil 2009;6(1):20.
39. Mehrholz J, Pohl M. Electromechanical-assisted gait training after stroke: a systematic review comparing endeffector and exoskeleton devices. J Rehabil Med 2012; 44(3):193-9.
40. Jezernik S, Pfister A, Frueh H, Colombo G, Morari M. Robotic orthosis lokomat: its use in the rehabilitation of locomotion and in the development of the biology-based neural controller. In: Annual IFESS Conference; 2002. pp. 301-3.
41. Riener R, Lunenburger L, Jezernik S, Anderschitz M, Colombo G, Dietz V. Patient-cooperative strategies for robotaided treadmill training: first experimental results. IEEE Trans Neural Syst Rehabil Eng 2005;13(September (3)):380-94.
42. Bernhardt M, Frey M, Colombo G, Riener R. Hybrid forceposition control yields cooperative behaviour of the rehabilitation robot lokomat. In: 9th International Conference on Rehabilitation Robotics. ICORR; 2005. pp. 536-9.
43. Wirz M, Bastiaenen C, de Bie R, Dietz V. Effectiveness of automated locomotor training in patients with acute incomplete spinal cord injury: a randomized controlled multicenter trial. BMC Neurol 2011;11.
44. Westlake K, Patten C. Pilot study of lokomat versus manualassisted treadmill training for locomotor recovery poststroke. J NeuroEng Rehabil 2009;6(1):18.
45. Hidler J, Nichols D, Pelliccio M, Brady K, Campbell DD, Kahn JH, Hornby TG. Multicenter randomized clinical trial evaluating the effectiveness of the lokomat in subacute stroke. Neurorehabil Neural Repair 2009;23(1):5-13.
46. HealthSouth's AutoAmbulator. April. Available at: www.healthsouth.com.
47. Veneman JF, Kruidhof R, Hekman EEG, Ekkelenkamp R, van Asseldonk EHF, van der Kooij H. Design and evaluation of the lopes exoskeleton robot for interactive gait rehabilitation. IEEE Trans Neural Syst Rehabil Eng 2007;15 (September (3)):379-86.
48. Ekkelenkamp R, Veneman J, van der Kooij H. Lopes: selective control of gait functions during the gait rehabilitation of CVA patients. In: Proceedings IEEE 9th International Conference on Rehabilitation Robotics; 2005.
49. Banala SK, Agrawal SK, Kim SH, Scholz JP. Novel gait adaptation and neuromotor training results using an active leg exoskeleton. IEEE/ASME Trans Mechatron 2010; 15(April (2)):216-25.
50. Winfree KN, Stegall P, Agrawal SK. Design of a minimally constraining, passively supported gait training exoskeleton: ALEX ii. In: IEEE International Conference on Rehabilitation Robotics (ICORR); 2011. pp. 1-6.
51. Kim W, Lee S, Lee H, Yu S, Han J, Han C. Development of the heavy load transferring task oriented exoskeleton adapted by lower extremity using quasi-active joints. In: ICROS-SICE International Joint Conference; 2009. pp. 1353-8.
52. Banala SK, Kim SH, Agrawal SK, Scholz JP. Robot assisted gait training with active leg exoskeleton (ALEX). IEEE Trans Neural Syst Rehabil Eng 2009;17(February (1)):2-8.
53. Fisher S. Use of autoambulator for mobility improvement in patients with central nervous system (CNS) injury or disease. Neurorehabil Neural Repair 2008;22.
54. Fisher S, Lucas L, Thrasher TA. Robot-assisted gait training for patients with hemiparesis due to stroke. Top Stroke Rehabil 2011;18(3):269-76.
55. van Asseldonk E, Simons C, Folkersma M, van den Hoek J, Postma M, van der Kooij H, Buurke J. Robot aided gait training according to the assist-as-needed principle in chronic stroke survivors. In: Proceedings of the Annual Meeting of the Society for Neuroscience; 2009 [Poster].
56. Beyl P, Cherelle P, Knaepen K, Lefeber D. A proof-ofconcept exoskeleton for robot-assisted rehabilitation of gait. In: van der Sloten J, Verdonck P, Nyssen M, Haueisen J, (eds) Proceedings of the 4th European Conference of the International Federation for Medical and Biological Engineering, vol. 1, 2008. pp. 1825-1829.
57. Beyl P, Naudet J, Van Ham R, Lefeber D. Mechanical design of an active knee orthosis for gait rehabilitation. In: IEEE 10th International Conference on Rehabilitation Robotics. ICORR; 2007. pp. 100-5.
58. Zhang X, Yang C, Zhang J, Chen Y. A novel DGO based on pneumatic exoskeleton leg for locomotor training of paraplegic patients. In: ICIRA'08: Proceedings of the First International Conference on Intelligent Robotics and Applications; 2008. pp. 528-37.
59. Bouri M, Stauffer Y, Schmitt C, Allemand Y, Gnemmi S, Clavel R, Metrailler P, Brodard R. The walktrainer: a robotic system for walking rehabilitation. In: IEEE International Conference on Robotics and Biomimetics. ROBIO'06; 2006. pp. 1616-21.
60. Allemand Y, Stauffer Y, Clavel R, Brodard R. Design of a new lower extremity orthosis for overground gait training with the walktrainer. In: IEEE International Conference on Rehabilitation Robotics. ICORR; 2009. pp. 550-5.
61. Allemand Y, Stauffer Y. Overground gait rehabilitation: first clinical investigation with the walktrainer. In: Proc. Technically Assisted Rehabilitation Conference; 2009.
62. Safizadeh MR, Hussein M, Yaacob MS, Md Zain MZ, Abdullah MR, Che Kob MS, Samat K. Kinematic analysis of powered lower limb orthoses for gait rehabilitation of hemiplegic and hemiparetic patients. Int J Math Models Methods Appl Sci 2011;5(3):490-8.
63. Slavnic S, Leu A, Ristic-Durrant D, Graser A. Concept of a mobile robot-assisted gait rehabilitation system-simulation study. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2010. pp. 6022-7.
64. Saito Y, Kikuchi K, Negoto H, Oshima T, Haneyoshi T. Development of externally powered lower limb orthosis with bilateral-servo actuator. In: 9th International Conference on Rehabilitation Robotics. ICORR 2005; 2005. pp. 394-9.
65. Costa N, Caldwell DG. Control of a biomimetic "softactuated" 10dof lower body exoskeleton. In: 1st IEEE/RASEMBS International Conference on Biomedical Robotics and Biomechatronics. BioRob 2006; 2006. pp. 495-501.
66. Zabaleta H, Bureau M, Eizmendi G, Olaiz E, Medina J, Perez M. Exoskeleton design for functional rehabilitation in patients with neurological disorders and stroke. In: IEEE 10th International Conference on Rehabilitation Robotics. ICORR; 2007. pp. 112-8.
67. Sawicki GS, Ferris DP. A knee-ankle-foot orthosis (KAFO) powered by artificial pneumatic muscles. In: XIXth Congress of the International Society of Biomechanics; 2003.
68. Sawicki G, Ferris D. a pneumatically powered knee-anklefoot orthosis (KAFO) with myoelectric activation and inhibition. J NeuroEng Rehabil 2009;6(1):23.
69. Wu S, Jordan M, Shen X. A pneumatically-actuated lowerlimb orthosis. In: 33rd Annual International Conference of the IEEE EMBS; 2011.
70. Horst RW. A bio-robotic leg orthosis for rehabilitation and mobility enhancement. In: Annual International Conference of the IEEE, Engineering in Medicine and Biology Society. EMBC; 2009. pp. 5030-3.
71. Roy A, Krebs HI, Patterson SL, Judkins TN, Khanna I, Forrester LW, Macko RM, Hogan N. Measurement of human ankle stiffness using the anklebot. In: IEEE 10th International Conference on Rehabilitation Robotics. ICORR; 2007. pp. 356-63.
72. Krebs HI, Dipietro L, Levy-Tzedek S, Fasoli SE, Rykman- Berland A, Zipse J, Fawcett JA, Stein J, Poizner H, Lo AC, Volpe BT, Hogan N. A paradigm shift for rehabilitation robotics. IEEE Eng Med Biol Mag 2008;27:61-70.
73. Khanna I, Roy A, Rodgers M, Krebs H, Macko R, Forrester L. Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke. J NeuroEng Rehabil 2010;7(1):23.
74. Krebs HI, Rossi S, Kim S, Artemiadis PK, Williams D, Castelli E, Cappa P. Pediatric anklebot. In: IEEE International Conference on Rehabilitation Robotics (ICORR); 2011. pp. 1-5.
75. Satici AC, Erdogan A, Patoglu V. Design of a reconfigurable ankle rehabilitation robot and its use for the estimation of the ankle impedance. In: IEEE International Conference on Rehabilitation Robotics. ICORR; 2009. pp. 257-64.
76. Boehler AW, Hollander KW, Sugar TG, Shin D. Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO). In: IEEE International Conference on Robotics and Automation. ICRA; 2008. pp. 2025-30.
77. Blaya JA, Herr H. Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait. IEEE Trans Neural Syst Rehabil Eng 2004;12(March (1)):24-31.
78. Agrawal A, Banala SK, Agrawal SK, Binder-Macleod SA. Design of a two degree-of-freedom ankle-foot orthosis for robotic rehabilitation. In: 9th International Conference on Rehabilitation Robotics. ICORR; 2005. pp. 41-4.
79. Pons JL, Moreno JC, Brunetti FJ, Rocon E. Lower-limb wearable exoskeleton. In: Kommu SS, (ed.). Rehabilitation Robotics. Vienna, Austria: Tech Education and Publishing; 2007.
80. Sugisaka M, Wang J, Tsumura H, Kataoka M. A control method of ankle foot orthosis (AFO) with artificial muscle. In: SICE Annual Conference; 2008. pp. 2013-7.
81. Noel M, Cantin B, Lambert S, Gosselin CM, Bouyer LJ. An electrohydraulic actuated ankle foot orthosis to generate force fields and to test proprioceptive reflexes during human walking. IEEE Trans Neural Syst Rehabil Eng 2008;16 (August (4)):390-9.
82. Ferris DP, Gordon KE, Sawicki GS, Peethambaran A. An improved powered ankle-foot orthosis using proportional myoelectric control. Gait Posture 2006;23(4):425-8.
83. Ward JA, Balasubramanian S, Sugar T, He J. Robotic gait trainer reliability and stroke patient case study. In: IEEE 10th International Conference on Rehabilitation Robotics. ICORR; 2007. pp. 554-61.
84. Ward J, Sugar T, Standeven J, Engsberg JR. Stroke survivor gait adaptation and performance after training on a powered ankle foot orthosis. In: 2010 IEEE International Conference on Robotics and Automation (ICRA); 2010. pp. 211-6.
85. Sawicki GS, Gordon KE, Ferris DP. Powered lower limb orthoses: applications in motor adaptation and rehabilitation. In: 9th International Conference on Rehabilitation Robotics. ICORR; 2005. pp. 206-11.