Soft Exoskeletons: Development, Requirements, and Challenges of the Last Decade

In this article, various investigations on soft exoskeletons are presented and their functional structural characteristics analyzed. The present work is oriented to the studies of last decade covers upper lower joints, specifically shoulder, elbow, wrist, hand, hip, knee, ankle. Its functionality, applicability, main exposed, such as degrees freedom, force, actuators, power transmission methods, control systems, sensors. purpose show current trend in development exoskeletons, addition specifying essential that must be considered its design challenges construction implies.