A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons

Gait parameter adaptation for lower-limb exoskeletons

The field of exoskeletons and assistive orthotic devices is a multidisciplinary issue in the halfway between medicine and robotics. Within the robotic discipline, bipedal robot gaits are generated as a function of parameters such as stride length, foot clearance and body height. These features allow to adapt the gait to different surface characteristics. However, biped robot gaits do not look a...

Monitoring Activities with Lower-Limb Exoskeletons

Segmented Foot with Compliant Actuators and Its Applications to Lower-Limb Prostheses and Exoskeletons

In recent years, there has been an increasing interest in the functionality of the foot in human normal walking. Different from the existing methods that represent the foot as a single rigid bar, several multi-segmented foot models have been studied to evaluate the effects of the segmented foot structures on human walking for clinical applications [1], adolescent gaits [2] and pediatric gaits [...

Risk management and regulations for lower limb medical exoskeletons: a review

Gait disability is a major health care problem worldwide. Powered exoskeletons have recently emerged as devices that can enable users with gait disabilities to ambulate in an upright posture, and potentially bring other clinical benefits. In 2014, the US Food and Drug Administration approved marketing of the ReWalk™ Personal Exoskeleton as a class II medical device with special controls. Since ...

Compliant Actuation of Exoskeletons

This chapter discusses the advantages and feasibility of using compliant actuators in exoskeletons. We designed compliant actuation for use in a gait rehabilitation robot. In such a gait rehabilitation robot large forces are required to support the patient. In case of poststroke patients only the affected leg has to be supported while the movement of the unaffected leg should not be hindered. N...