Research progress on compliant characteristics of lower extremity exoskeleton robots_Journal of Biomedical Engineering

Authors：

 SI Guoning ¹ , HUANG Wanting ¹ , LI Gensheng ¹ , XU Fei ¹ , CHU Mengqiu ¹ , LIU Jingfang ²

1. School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China;
2. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, P.R.China;

Corresponding?author：

SI Guoning, Email: gnsi@usst.edu.cn

Keywords：

lower extremity exoskeleton robot; compliant characteristic; compliant drive; compliant joint

DOI：

10.7507/1001-5515.201804023

Video：

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The lower extremity exoskeleton robot is a wearable device designed to help people suffering from a walking disorder to regain the power of the legs and joints to achieve standing and walking functions. Compared with traditional robots that include rigid mechanisms, lower extremity exoskeleton robots with compliant characteristics can store and release energy in passive elastic elements while minimizing the reaction force due to impact, so it can improve the safety of human-robot interaction. This paper reviews the compliant characteristics of lower extremity exoskeleton robots from the aspects of compliant drive and compliant joint, and introduces the augmentation, assistive, rehabilitation lower extremity exoskeleton robots. It also prospect the future development trend of lower extremity exoskeleton robots.

Citation： SI Guoning, HUANG Wanting, LI Gensheng, XU Fei, CHU Mengqiu, LIU Jingfang. Research progress on compliant characteristics of lower extremity exoskeleton robots. Journal of Biomedical Engineering, 2019, 36(1): 157-163. doi: 10.7507/1001-5515.201804023 Copy

1.	Chen Bing, Ma Hao, Qin Laiyin, et al. Recent developments and challenges of lower extremity exoskeletons. Journal of Orthopaedic Translation, 2016, 5: 26-37.
2.	Kim H, Shin Y J, Kim J. Design and locomotion control of a hydraulic lower extremity exoskeleton for mobility augmentation. Mechatronics, 2017, 46: 32-45.
3.	王海蓮, 張小棟, 李華聰. 士兵可穿戴下肢外骨骼機器人多元感知方法研究. 計算機測量與控制, 2015, 23(10): 3505-3507.
4.	Pratt J E, Krupp B T, Morse C J, et al. The RoboKnee: an exoskeleton for enhancing strength and endurance during walking//IEEE Inter Conf Robot Auto, 2004: 2430-2435.
5.	Ouyang Xiaoping, Ding Shuo, Fan Boqian, et al. Development of a novel compact hydraulic power unit for the exoskeleton robot. Mechatronics, 2016, 38: 68-75.
6.	Hussain S, Xie Shengq, Jamwal P K. Control of a robotic orthosis for gait rehabilitation. Rob Auton Syst, 2013, 61(9): 911-919.
7.	Pransky J. The Pransky interview: Russ Angold, co-founder and president of Ekso (TM) Labs. Industrial Robot-an International Journal, 2014, 41(4): 329-334.
8.	Gandolla M, Guanziroli E, D’angelo A, et al. Automatic setting procedure for exoskeleton-assisted overground gait: proof of concept on stroke population. Front Neurorobot, 2018, 12: 10.
9.	Wang Shiqian, Wang Letian, Meijneke C, et al. Design and control of the MINDWALKER exoskeleton. IEEE Trans Neural Syst Rehabil Eng, 2015, 23(2): 277-286.
10.	Chen Bing, Zhong Chunhao, Ma Hao, et al. Sit-to-stand and stand-to-sit assistance for paraplegic patients with CUHK-EXO exoskeleton. Robotica, 2018, 36(4): 535-551.
11.	Chen Bing, Zhong Chunhao, Zhao Xuan, et al. A wearable exoskeleton suit for motion assistance to paralysed patients. Journal of Orthopaedic Translation, 2017, 11: 7-18.
12.	謝崢, 王明江, 黃武龍, 等. 基于實時步態分析的行走輔助外骨骼機器人系統. 生物醫學工程學雜志, 2017, 34(2): 265-270.
13.	Meuleman J, van Asseldonk E, van Oort G, et al. LOPES II—Design and evaluation of an admittance controlled gait training robot with shadow-leg approach. IEEE Trans Neural Syst Rehabil Eng, 2016, 24(3): 352-363.
14.	Bayon C, Ramirez O, Serrano J I, et al. Development and evaluation of a novel robotic platform for gait rehabilitation in patients with Cerebral Palsy: CPWalker. Rob Auton Syst, 2017, 91: 101-114.
15.	Feng Yongfei, Wang Hongbo, Du Yaxin, et al. Trajectory planning of a novel lower limb rehabilitation robot for stroke patient passive training. Advances in Mechanical Engineering, 2017, 9(12): 1-10.
16.	Torrealba R R, Udelman S B, Fonseca-Rojas E D. Design of variable impedance actuator for knee joint of a portable human gait rehabilitation exoskeleton. Mechanism and Machine Theory, 2017, 116: 248-261.
17.	Zhang Mingming, Cao Jinghui, Zhu Guoli, et al. Reconfigurable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR). Robot Auto Sys, 2017, 98: 213-221.
18.	朱文超, 徐秀林, 姚曉明, 等. 壓差式氣動減重康復步行訓練系統的設計. 生物醫學工程學雜志, 2017, 34(4): 565-571.
19.	Bortole M, Venkatakrishnan A, Zhu Fangshi, et al. The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study. J NeuroEng Rehabil, 2015, 12: 54.
20.	Wu Junpeng, Gao Jinwu, Song Rong, et al. The design and control of a 3DOF lower limb rehabilitation robot. Mechatronics, 2016, 33: 13-22.
21.	Long Yi, Du Zhijiang, Chen Chaofeng, et al. Development and analysis of an electrically actuated lower extremity assistive exoskeleton. J Bionic Eng, 2017, 14(2): 272-283.
22.	Karavas N, Ajoudani A, Tsagarakis N, et al. Tele-impedance based assistive control for a compliant knee exoskeleton. Rob Auton Syst, 2015, 73(SI): 78-90.
23.	Hyun D J, Park H, Ha Taejun, et al. Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance. Rob Auton Syst, 2017, 95: 181-195.
24.	Kardan I, Akbarzadeh A. Robust output feedback assistive control of a compliantly actuated knee exoskeleton. Rob Auton Syst, 2017, 98: 15-29.
25.	韓亞麗, 吳振宇, 許有熊, 等. 基于多模式彈性驅動器的膝關節外骨骼機械腿. 機器人, 2017, 39(4): 498-504.
26.	Yu H Y, Huang S, Chen G, et al. Human-robot interaction control of rehabilitation robots with series elastic actuators. IEEE Trans Robot, 2015, 31(5): 1089-1100.
27.	Cestari M, Sanz-Merodio D, Arevalo J C. An adjustable compliant joint for lower-limb exoskeletons. IEEE-ASME Transactions on Mechatronics, 2015, 20(2): 889-898.
28.	趙彥峻, 葛文慶, 劉小龍, 等. 外骨骼機器人設計及其機械結構的有限元分析. 機床與液壓, 2016, 44(3): 10-13, 51.
29.	Chen Shan, Chen Zheng, Yao Bin, et al. Cascade force control of lower limb hydraulic exoskeleton for human performance augmentation//Proceedings of the Iecon 2016-42nd Annual Conference of the IEEE Industrial Electronics Society, 2016: 512-517.
30.	Strausser K A, Swift T A, Zoss A B, et al. Prototype medical exoskeleton for paraplegic mobility: first experimental results// Proceedings of the ASME Dynamic Systems and Control Conference, 2010: 453-458.
31.	何健, 王海波, 李雪峰, 等. 負重型下肢外骨骼液壓動力單元的研究. 液壓與氣動, 2017, (11): 6-11.
32.	靳興來, 朱世強, 張學群, 等. 液壓驅動下肢助力外骨骼機器人膝關節結構設計及試驗. 農業工程學報, 2017, 33(5): 26-31.
33.	唐志勇, 徐曉東, 熊玨, 等. 下肢液壓驅動康復機器人機械設計與運動學研究. 液壓與氣動, 2014, (12): 31-35.
34.	Lu Zhiguo, Huo Jun, Wang Yuce, et al. Design and simulation analysis of a lower limbs exoskeleton powered by hydraulic drive// 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM), 2017: 173-177.
35.	Yamamoto K, Hyodo K, Ishii M, et al. Development of power assisting suit for assisting nurse labor. JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, 2002, 45(3): 703-711.
36.	李超. 氣動肌肉驅動的外骨骼助力系統研究. 杭州: 浙江大學, 2016.
37.	Hashimoto Y, Nakanishi Y, Saga N, et al. Development of gait assistive device using pneumatic artificial muscle//IEEE 2016 Joint 8th Inter Conf Soft Comput Intell Sys, 2016: 710-713.
38.	滕燕, 楊罡, 王士允, 等. 多模式柔順膝關節康復器設計及力分析. 機械制造與自動化, 2012, 41(2): 143-146.
39.	Hong Y P, Koo D, Park J I, et al. The SoftGait: A simple and powerful Weight-Support device for walking and squatting//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015: 6336-6341.
40.	Wan Shilong, Yang Mingxing, Xi Ruru, et al. Design and control strategy of humanoid lower limb exoskeleton driven by pneumatic artificial muscles//Proceedings of 2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2016: 157-161.
41.	Quy-Thinh D, Yamamoto S I. Tracking control of a robotic orthosis for gait rehabilitation: a feedforward-feedback control approach//2017 10th Biomedical Engineering International Conference (BMEICON), Japan: IEEE, 2017: 1-5.
42.	Sarkar A, Dutta A. 8-DoF biped robot with compliant-links. Rob Auton Syst, 2015, 63(1): 57-67.
43.	Wang Donghai, Lee K M, Ji Jingjing. A passive gait-based weight-support lower extremity exoskeleton with compliant joints. IEEE Transactions on Robotics, 2016, 32(4): 933-942.

1. Chen Bing, Ma Hao, Qin Laiyin, et al. Recent developments and challenges of lower extremity exoskeletons. Journal of Orthopaedic Translation, 2016, 5: 26-37.
2. Kim H, Shin Y J, Kim J. Design and locomotion control of a hydraulic lower extremity exoskeleton for mobility augmentation. Mechatronics, 2017, 46: 32-45.
3. 王海蓮, 張小棟, 李華聰. 士兵可穿戴下肢外骨骼機器人多元感知方法研究. 計算機測量與控制, 2015, 23(10): 3505-3507.
4. Pratt J E, Krupp B T, Morse C J, et al. The RoboKnee: an exoskeleton for enhancing strength and endurance during walking//IEEE Inter Conf Robot Auto, 2004: 2430-2435.
5. Ouyang Xiaoping, Ding Shuo, Fan Boqian, et al. Development of a novel compact hydraulic power unit for the exoskeleton robot. Mechatronics, 2016, 38: 68-75.
6. Hussain S, Xie Shengq, Jamwal P K. Control of a robotic orthosis for gait rehabilitation. Rob Auton Syst, 2013, 61(9): 911-919.
7. Pransky J. The Pransky interview: Russ Angold, co-founder and president of Ekso (TM) Labs. Industrial Robot-an International Journal, 2014, 41(4): 329-334.
8. Gandolla M, Guanziroli E, D’angelo A, et al. Automatic setting procedure for exoskeleton-assisted overground gait: proof of concept on stroke population. Front Neurorobot, 2018, 12: 10.
9. Wang Shiqian, Wang Letian, Meijneke C, et al. Design and control of the MINDWALKER exoskeleton. IEEE Trans Neural Syst Rehabil Eng, 2015, 23(2): 277-286.
10. Chen Bing, Zhong Chunhao, Ma Hao, et al. Sit-to-stand and stand-to-sit assistance for paraplegic patients with CUHK-EXO exoskeleton. Robotica, 2018, 36(4): 535-551.
11. Chen Bing, Zhong Chunhao, Zhao Xuan, et al. A wearable exoskeleton suit for motion assistance to paralysed patients. Journal of Orthopaedic Translation, 2017, 11: 7-18.
12. 謝崢, 王明江, 黃武龍, 等. 基于實時步態分析的行走輔助外骨骼機器人系統. 生物醫學工程學雜志, 2017, 34(2): 265-270.
13. Meuleman J, van Asseldonk E, van Oort G, et al. LOPES II—Design and evaluation of an admittance controlled gait training robot with shadow-leg approach. IEEE Trans Neural Syst Rehabil Eng, 2016, 24(3): 352-363.
14. Bayon C, Ramirez O, Serrano J I, et al. Development and evaluation of a novel robotic platform for gait rehabilitation in patients with Cerebral Palsy: CPWalker. Rob Auton Syst, 2017, 91: 101-114.
15. Feng Yongfei, Wang Hongbo, Du Yaxin, et al. Trajectory planning of a novel lower limb rehabilitation robot for stroke patient passive training. Advances in Mechanical Engineering, 2017, 9(12): 1-10.
16. Torrealba R R, Udelman S B, Fonseca-Rojas E D. Design of variable impedance actuator for knee joint of a portable human gait rehabilitation exoskeleton. Mechanism and Machine Theory, 2017, 116: 248-261.
17. Zhang Mingming, Cao Jinghui, Zhu Guoli, et al. Reconfigurable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR). Robot Auto Sys, 2017, 98: 213-221.
18. 朱文超, 徐秀林, 姚曉明, 等. 壓差式氣動減重康復步行訓練系統的設計. 生物醫學工程學雜志, 2017, 34(4): 565-571.
19. Bortole M, Venkatakrishnan A, Zhu Fangshi, et al. The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study. J NeuroEng Rehabil, 2015, 12: 54.
20. Wu Junpeng, Gao Jinwu, Song Rong, et al. The design and control of a 3DOF lower limb rehabilitation robot. Mechatronics, 2016, 33: 13-22.
21. Long Yi, Du Zhijiang, Chen Chaofeng, et al. Development and analysis of an electrically actuated lower extremity assistive exoskeleton. J Bionic Eng, 2017, 14(2): 272-283.
22. Karavas N, Ajoudani A, Tsagarakis N, et al. Tele-impedance based assistive control for a compliant knee exoskeleton. Rob Auton Syst, 2015, 73(SI): 78-90.
23. Hyun D J, Park H, Ha Taejun, et al. Biomechanical design of an agile, electricity-powered lower-limb exoskeleton for weight-bearing assistance. Rob Auton Syst, 2017, 95: 181-195.
24. Kardan I, Akbarzadeh A. Robust output feedback assistive control of a compliantly actuated knee exoskeleton. Rob Auton Syst, 2017, 98: 15-29.
25. 韓亞麗, 吳振宇, 許有熊, 等. 基于多模式彈性驅動器的膝關節外骨骼機械腿. 機器人, 2017, 39(4): 498-504.
26. Yu H Y, Huang S, Chen G, et al. Human-robot interaction control of rehabilitation robots with series elastic actuators. IEEE Trans Robot, 2015, 31(5): 1089-1100.
27. Cestari M, Sanz-Merodio D, Arevalo J C. An adjustable compliant joint for lower-limb exoskeletons. IEEE-ASME Transactions on Mechatronics, 2015, 20(2): 889-898.
28. 趙彥峻, 葛文慶, 劉小龍, 等. 外骨骼機器人設計及其機械結構的有限元分析. 機床與液壓, 2016, 44(3): 10-13, 51.
29. Chen Shan, Chen Zheng, Yao Bin, et al. Cascade force control of lower limb hydraulic exoskeleton for human performance augmentation//Proceedings of the Iecon 2016-42nd Annual Conference of the IEEE Industrial Electronics Society, 2016: 512-517.
30. Strausser K A, Swift T A, Zoss A B, et al. Prototype medical exoskeleton for paraplegic mobility: first experimental results// Proceedings of the ASME Dynamic Systems and Control Conference, 2010: 453-458.
31. 何健, 王海波, 李雪峰, 等. 負重型下肢外骨骼液壓動力單元的研究. 液壓與氣動, 2017, (11): 6-11.
32. 靳興來, 朱世強, 張學群, 等. 液壓驅動下肢助力外骨骼機器人膝關節結構設計及試驗. 農業工程學報, 2017, 33(5): 26-31.
33. 唐志勇, 徐曉東, 熊玨, 等. 下肢液壓驅動康復機器人機械設計與運動學研究. 液壓與氣動, 2014, (12): 31-35.
34. Lu Zhiguo, Huo Jun, Wang Yuce, et al. Design and simulation analysis of a lower limbs exoskeleton powered by hydraulic drive// 2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM), 2017: 173-177.
35. Yamamoto K, Hyodo K, Ishii M, et al. Development of power assisting suit for assisting nurse labor. JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, 2002, 45(3): 703-711.
36. 李超. 氣動肌肉驅動的外骨骼助力系統研究. 杭州: 浙江大學, 2016.
37. Hashimoto Y, Nakanishi Y, Saga N, et al. Development of gait assistive device using pneumatic artificial muscle//IEEE 2016 Joint 8th Inter Conf Soft Comput Intell Sys, 2016: 710-713.
38. 滕燕, 楊罡, 王士允, 等. 多模式柔順膝關節康復器設計及力分析. 機械制造與自動化, 2012, 41(2): 143-146.
39. Hong Y P, Koo D, Park J I, et al. The SoftGait: A simple and powerful Weight-Support device for walking and squatting//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015: 6336-6341.
40. Wan Shilong, Yang Mingxing, Xi Ruru, et al. Design and control strategy of humanoid lower limb exoskeleton driven by pneumatic artificial muscles//Proceedings of 2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2016: 157-161.
41. Quy-Thinh D, Yamamoto S I. Tracking control of a robotic orthosis for gait rehabilitation: a feedforward-feedback control approach//2017 10th Biomedical Engineering International Conference (BMEICON), Japan: IEEE, 2017: 1-5.
42. Sarkar A, Dutta A. 8-DoF biped robot with compliant-links. Rob Auton Syst, 2015, 63(1): 57-67.
43. Wang Donghai, Lee K M, Ji Jingjing. A passive gait-based weight-support lower extremity exoskeleton with compliant joints. IEEE Transactions on Robotics, 2016, 32(4): 933-942.

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