A Survey in the Different Designs and Control Systems of Powered Exoskeleton for Lower Extremities

In this paper, previous studies in powered exoskeleton and their contributions in the field of robotics technology are presented, together with their corresponding control system. Specific problems and issues that were encountered and the solutions made to resolve the problems will be discussed. Gait cycle analysis and human body dynamic model will also be covered in the study to understand the biomechanics and the dynamics behind human walking.

[1]  G. Saridis,et al.  Legged Locomotion Robots and Anthropomorphic Mechanisms: by M. Vukobratovic. Mihailo Pupin Institute, Belgrade, 1975, 346 pp. $23. , 1976 .

[2]  Yoshiyuki Sankai,et al.  Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Paul Bosscher,et al.  Haptic Cobot Exoskeleton: Concepts and Mechanism Design , 2006 .

[4]  Adam Zoss,et al.  On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[5]  Lihua Huang,et al.  Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2006, Int. J. Robotics Res..

[6]  Darwin G. Caldwell,et al.  Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian , 2016, J. Intell. Robotic Syst..

[7]  J. Brockway.  Derivation of formulae used to calculate energy expenditure in man. , 1987, Human nutrition. Clinical nutrition.

[8]  Homayoon Kazerooni,et al.  The Berkeley Lower Extremity Exoskeleton , 2006 .

[9]  Daniel P. Ferris,et al.  Robotic lower limb exoskeletons using proportional myoelectric control , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[10]  Miomir Vukobratovic,et al.  Zero-Moment Point - Thirty Five Years of its Life , 2004, Int. J. Humanoid Robotics.

[11]  Yoshiyuki Sankai,et al.  Power Assist System HAL-3 for Gait Disorder Person , 2002, ICCHP.

[12]  M. Ishii,et al.  Stand alone wearable power assisting suit - sensing and control systems , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[13]  Rodrigo S. Jamisola,et al.  A more compact expression of relative Jacobian based on individual manipulator Jacobians , 2015, Robotics Auton. Syst..

[14]  K.H. Low,et al.  Development and preliminary study of the NTU lower extremity exoskeleton , 2004, IEEE Conference on Cybernetics and Intelligent Systems, 2004..

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

[16]  Michel Benoit,et al.  MoonWalker, a lower limb exoskeleton able to sustain bodyweight using a passive force balancer , 2010, 2010 IEEE International Conference on Robotics and Automation.

[17]  Adam Zoss,et al.  Design of an electrically actuated lower extremity exoskeleton , 2006, Adv. Robotics.

[18]  Xiaopeng Liu,et al.  Development of a lower extremity exoskeleton for human performance enhancement , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

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

[20]  Mark E. Rosheim.  Man-Amplifying Exoskeleton , 1990, Other Conferences.

[21]  Homayoon Kazerooni,et al.  Hybrid hydraulic-electric power unit for field and service robots , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  Jerry E. Pratt,et al.  The RoboKnee: an exoskeleton for enhancing strength and endurance during walking , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[23]  Christian Fleischer,et al.  Controlling exoskeletons with EMG signals and a biomechanical body model , 2007 .

[24]  Flavio Firmani,et al.  A COMPREHENSIVE HUMAN-BODY DYNAMIC MODEL TOWARDS THE DEVELOPMENT OF A POWERED EXOSKELETON FOR PARAPLEGICS , 2009 .

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

[26]  K. Kiguchi,et al.  A Study on EMG-Based Control of Exoskeleton Robots for Human Lower-limb Motion Assist , 2007, 2007 6th International Special Topic Conference on Information Technology Applications in Biomedicine.

[27]  H. Kawamoto,et al.  Power assist method for HAL-3 using EMG-based feedback controller , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[28]  Andrew Valiente,et al.  Design of a Quasi-Passive Parallel Leg Exoskeleton to Augment Load Carrying for Walking , 2005 .

[29]  H. van der Kooij,et al.  LOPES: selective control of gait functions during the gait rehabilitation of CVA patients , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[30]  Miomir Vukobratović,et al.  Biped Locomotion: Dynamics, Stability, Control and Application , 1990 .

[31]  Keijiro Yamamoto,et al.  Development of Power Assisting Suit , 2003 .

[32]  A. J. van den Bogert.  Exotendons for assistance of human locomotion , 2003, Biomedical engineering online.

[33]  Chee-Meng Chew,et al.  Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..

[34]  Conor James Walsh,et al.  Biomimetic Design of an Under-Actuated Leg Exoskeleton for Load-Carrying Augmentation , 2006 .

[35]  J. Michael McCarthy,et al.  Homotopy Directed Optimization to Design a Six-Bar Linkage for a Lower Limb with a Natural Ankle Trajectory , 2016 .

[36]  Zhiyong Yang,et al.  Impedance Control of Exoskeleton Suit Based on Adaptive RBF Neural Network , 2009, 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics.

[37]  Branislav Borovac,et al.  Simulation model of general human and humanoid motion , 2007 .

[38]  J. Donelan,et al.  Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking. , 2002, The Journal of experimental biology.

[39]  Yoshiyuki Sankai,et al.  Control method of robot suit HAL working as operator's muscle using biological and dynamical information , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[40]  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.

[41]  H. Goldstein,et al.  The rise of the body bots [robotic exoskeletons] , 2005, IEEE Spectrum.

[42]  Conor James Walsh,et al.  An autonomous, underactuated exoskeleton for load-carrying augmentation , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[43]  Pyung Hun Chang,et al.  Relative Impedance Control for Dual-Arm Robots Performing Asymmetric Bimanual Tasks , 2014, IEEE Transactions on Industrial Electronics.

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

[45]  Yoshiyuki Sankai,et al.  Power assist control for leg with HAL-3 based on virtual torque and impedance adjustment , 2002, IEEE International Conference on Systems, Man and Cybernetics.

[46]  Eric Bryan LaFay.  Mechanical System Design of a Haptic Cobot Exoskeleton , 2007 .

[47]  Bruce R. Fick,et al.  Hardiman I Prototype for Machine Augmentation of Human Strength and Endurance , 1971 .

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

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

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

[51]  Keijiro Yamamoto,et al.  Development of Power Assisting Suit : Miniaturization of Supply System to Realize Wearable Suit( Advances in Motion and Vibration Control Technology) , 2003 .

[52]  Yoshiyuki Sankai,et al.  The natural frequency-based power assist control for lower body with HAL-3 , 2003, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Security and Assurance (Cat. No.03CH37483).

[53]  Jerry E. Pratt,et al.  Virtual model control of a bipedal walking robot , 1997, Proceedings of International Conference on Robotics and Automation.

[54]  Haoyong Yu,et al.  Mechanical Design and Evaluation of a Novel Knee-Ankle-Foot Robot for Rehabilitation , 2015 .

[55]  Zhiyong Yang,et al.  Simulation research of exoskeleton suit based on Neural Network Sensitivity Amplification Control , 2008, 2008 Chinese Control and Decision Conference.