Active Exoskeleton Control Systems: State of the Art

To get a compliant active exoskeleton controller, the force interaction controllers are mostly used in form of either the impedance or admittance controllers. The impedance or admittance controllers can only work if they are followed by either the force or the position controller respectively. These combinations place the impedance or admittance controller as high-level controller while the force or position controller as low-level controller. From the application point of view, the exoskeleton controllers are equipped by task controllers that can be formed in several ways depend on the aims. This paper presents the review of the control systems in the existing active exoskeleton in the last decade. The exoskeleton control system can be categorized according to the model system, the physical parameters, the hierarchy and the usage. These considerations give different control schemes. The main consideration of exoskeleton control design is how to achieve the best control performances. However, stability and safety are other important issues that have to be considered. © 2012 The Authors. Published by Elsevier Ltd. Selection and/or peer-review under responsibility of the Centre of Humanoid Robots and Bio-Sensor (HuRoBs), Faculty of Mechanical Engineering, Universiti Teknologi MARA.

[1]  Lida Xu,et al.  EMG and EPP-Integrated Human–Machine Interface Between the Paralyzed and Rehabilitation Exoskeleton , 2012, IEEE Transactions on Information Technology in Biomedicine.

[2]  Jacob Rosen,et al.  Comparison of multi-sensor admittance control in joint space and task space for a seven degree of freedom upper limb exoskeleton , 2010, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[3]  Homayoon Kazerooni,et al.  Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX) , 2006, Adv. Robotics.

[4]  Kazuo Kiguchi,et al.  SUEFUL-7: A 7DOF upper-limb exoskeleton robot with muscle-model-oriented EMG-based control , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Adriano A. G. Siqueira,et al.  Gait Pattern Adaptation for an Active Lower-Limb Orthosis Based on Neural Networks , 2011, Adv. Robotics.

[6]  R. S. Mosher,et al.  Handyman to Hardiman , 1967 .

[7]  Hyung-Soon Park,et al.  Developing a whole-arm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation , 2009, 2009 IEEE International Conference on Rehabilitation Robotics.

[8]  Stephen Roderick,et al.  Distributed Control and Safety System for a Rehabilitation Arm Exoskeleton , 2007 .

[9]  Li-Chen Fu,et al.  An articulated rehabilitation robot for upper limb physiotherapy and training , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Sheng Quan Xie,et al.  Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects. , 2012, Medical engineering & physics.

[11]  Jose L Pons,et al.  Wearable Robots: Biomechatronic Exoskeletons , 2008 .

[12]  D.J. Reinkensmeyer,et al.  Biomimetic orthosis for the neurorehabilitation of the elbow and shoulder (BONES) , 2008, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[13]  R. A. R. C. Gopura,et al.  A brief review on upper extremity robotic exoskeleton systems , 2011, 2011 6th International Conference on Industrial and Information Systems.

[14]  H. Kazerooni,et al.  Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX) , 2006, IEEE/ASME Transactions on Mechatronics.

[15]  Sethu Vijayakumar,et al.  Using dimensionality reduction to exploit constraints in reinforcement learning , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  H. van der Kooij,et al.  Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[17]  P. Kosmas,et al.  Time reversal microwave breast imaging for contrast-enhanced tumor classification , 2010, 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology.

[18]  Robert Riener,et al.  ARMin: a robot for patient-cooperative arm therapy , 2007, Medical & Biological Engineering & Computing.

[19]  H. Kazerooni,et al.  Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005 .

[20]  Z. Stojiljkovic,et al.  Development of active anthropomorphic exoskeletons , 2007, Medical and biological engineering.

[21]  E. Rocon,et al.  Design and Validation of a Rehabilitation Robotic Exoskeleton for Tremor Assessment and Suppression , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[22]  Joel C. Perry,et al.  Real-Time Myoprocessors for a Neural Controlled Powered Exoskeleton Arm , 2006, IEEE Transactions on Biomedical Engineering.

[23]  Lihua Huang,et al.  On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[24]  Sivakumar Balasubramanian,et al.  RUPERT closed loop control design , 2008, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[25]  Parvin Mousavi,et al.  EMG-force modeling using parallel cascade identification. , 2012, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology.

[26]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[27]  S.K. Agrawal,et al.  Robot assisted gait training with active leg exoskeleton (ALEX) , 2009, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[28]  R Jiménez-Fabián,et al.  Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons. , 2012, Medical engineering & physics.

[29]  Jacob Rosen,et al.  Performances of Hill-Type and Neural Network Muscle Models - Toward a Myosignal-Based Exoskeleton , 1999, Comput. Biomed. Res..

[30]  M. A. Peshkin,et al.  Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments , 2012, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[31]  Keijiro Yamamoto,et al.  Development of Power Assisting Suit for Assisting Nurse Labor , 2002 .

[32]  R. Riener,et al.  ARMin - Exoskeleton for Arm Therapy in Stroke Patients , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[33]  J. J. Gil,et al.  Lower-Limb Robotic Rehabilitation: Literature Review and Challenges , 2011, J. Robotics.

[34]  Marcia K. O'Malley,et al.  Design of a Haptic Arm Exoskeleton for Training and Rehabilitation , 2004 .

[35]  J. Edward Colgate,et al.  Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation , 2011, Int. J. Robotics Res..

[36]  Jiping He,et al.  Adaptive control of a wearable exoskeleton for upper-extremity neurorehabilitation , 2012 .

[37]  Yasuhisa Hasegawa,et al.  Intention-based walking support for paraplegia patients with Robot Suit HAL , 2007, Adv. Robotics.

[38]  Antonio Frisoli,et al.  Design and implementation of a training strategy in chronic stroke with an arm robotic exoskeleton , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[39]  Aaron M. Dollar,et al.  Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art , 2008, IEEE Transactions on Robotics.

[40]  Yoshiyuki Sankai,et al.  HAL: Hybrid Assistive Limb Based on Cybernics , 2007, ISRR.

[41]  M. Morari,et al.  Robotic Orthosis Lokomat: A Rehabilitation and Research Tool , 2003, Neuromodulation : journal of the International Neuromodulation Society.

[42]  Robert Bogue,et al.  Exoskeletons and robotic prosthetics: a review of recent developments , 2009, Ind. Robot.

[43]  M.A. Peshkin,et al.  Active-Impedance Control of a Lower-Limb Assistive Exoskeleton , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[44]  Robert Riener,et al.  Technology of the Robotic Gait Orthosis Lokomat , 2012 .

[45]  Robert Richardson,et al.  A Control Strategy for Upper Limb Robotic Rehabilitation With a Dual Robot System , 2010, IEEE/ASME Transactions on Mechatronics.

[46]  Craig R. Carignan,et al.  Development of an exoskeleton haptic interface for virtual task training , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[47]  Zhiyong Yang,et al.  Lower Extreme Carrying Exoskeleton Robot Adative Control Using Wavelet Neural Networks , 2008, 2008 Fourth International Conference on Natural Computation.

[48]  Yijian Zhang,et al.  A Review of exoskeleton-type systems and their key technologies , 2008 .

[49]  Toshio Fukuda,et al.  Neuro-fuzzy control of a robotic exoskeleton with EMG signals , 2004, IEEE Transactions on Fuzzy Systems.

[50]  Joel C. Perry,et al.  Upper Limb Powered Exoskeleton , 2007, Int. J. Humanoid Robotics.

[51]  J.C. Perry,et al.  Upper-Limb Powered Exoskeleton Design , 2007, IEEE/ASME Transactions on Mechatronics.

[52]  Yasuhisa Hasegawa,et al.  Gait support for complete spinal cord injury patient by synchronized leg-swing with HAL , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[53]  Dima Damen,et al.  Egocentric Real-time Workspace Monitoring using an RGB-D camera , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[54]  K. H. Low,et al.  Robot-assisted gait rehabilitation: From exoskeletons to gait systems , 2011, 2011 Defense Science Research Conference and Expo (DSR).

[55]  Yoshiaki Hayashi,et al.  An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot , 2012, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[56]  David J. Reinkensmeyer,et al.  Pneumatic Control of Robots for Rehabilitation , 2010, Int. J. Robotics Res..

[57]  Robert Riener,et al.  ARMin III --arm therapy exoskeleton with an ergonomic shoulder actuation , 2009 .

[58]  Paolo Bonato,et al.  Design and control of a robotic lower extremity exoskeleton for gait rehabilitation , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[59]  Pierre Letier,et al.  EXOSTATION : Haptic exoskeleton based control station , 2010, 2010 IEEE International Conference on Robotics and Automation.

[60]  Herman van der Kooij,et al.  Robot-Aided Gait Training with LOPES , 2012 .

[61]  G. Visentin,et al.  The ESA Human Arm Exoskeleton for Space Robotics Telepresence , 2003 .

[62]  Kyoungchul Kong,et al.  Design and control of an exoskeleton for the elderly and patients , 2006, IEEE/ASME Transactions on Mechatronics.

[63]  M. Bergamasco,et al.  Arm rehabilitation with a robotic exoskeleleton in Virtual Reality , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[64]  Max Donath,et al.  American Control Conference , 1993 .

[65]  Xiaoou Li,et al.  PID admittance control for an upper limb exoskeleton , 2011, Proceedings of the 2011 American Control Conference.

[66]  Jacob Rosen,et al.  A myosignal-based powered exoskeleton system , 2001, IEEE Trans. Syst. Man Cybern. Part A.

[67]  Antonio Frisoli,et al.  Robotic assisted rehabilitation in Virtual Reality with the L-EXOS. , 2009, Studies in health technology and informatics.

[68]  Kazuo Kiguchi,et al.  Mechanical designs of active upper-limb exoskeleton robots: State-of-the-art and design difficulties , 2009, 2009 IEEE International Conference on Rehabilitation Robotics.

[69]  M. Goldfarb,et al.  Preliminary Evaluation of a Powered Lower Limb Orthosis to Aid Walking in Paraplegic Individuals , 2011, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[70]  Jiping He,et al.  RUPERT: An exoskeleton robot for assisting rehabilitation of arm functions , 2008, 2008 Virtual Rehabilitation.

[71]  Michael Scott Liszka.  Mechanical design of a robot arm exoskeleton for shoulder rehabilitation , 2006 .

[72]  D.J. Reinkensmeyer,et al.  A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[73]  Ravi Vaidyanathan,et al.  2011 IEEE INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR) , 2011 .

[74]  W Seamone,et al.  An upper limb prosthesis-orthosis power and control system with multi-level potential. , 1973, The Journal of bone and joint surgery. American volume.