Control Systems in Lower-limb Exoskeletons for Rehabilitation and/or Assistance: A Brief Review

2022 International Conference on Smart Systems and Power Management (IC2SPM) Pub Date : 2022-11-10 DOI:10.1109/IC2SPM56638.2022.9988843

Dana Terrazas-Rodas, Lisbeth Rocca-Huaman, César Ramírez-Amaya, Jean Requejo-Rosales, Juan Gutiérrez-Atacusi, Frank Estacio-Cayetano

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Abstract

Disability is a condition that affects the quality of life of people due to different causes that include sarcopenia, degenerative diseases, among others. Economic instability, emotional impact, and other triggers on people with disabilities are examples of the consequences that commonly affect them. According to the World Health Organization (WHO), statistics reveal that 15% of the population are people with disabilities. Lower-limb exoskeletons are one of the technological solutions that help patients in their rehabilitation process or as assistance equipment. One of the most essential systems that are part of the exoskeletons of the lower extremities is the control system that has the control laws that define the functionality of this type of equipment. Therefore, in this review, various control methods and/or techniques used in 73 lower limb exoskeletons are analyzed, classifying their information in different sections such as trade names, biosignals used as information inputs through the mechatronic system, sensors that obtain information on control parameters such as position and force, actuators that perform the selected functions, and their common applications.

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用于康复和/或辅助的下肢外骨骼控制系统:简要综述

残疾是一种影响人们生活质量的状况，其原因不同，包括肌肉减少症、退行性疾病等。经济不稳定、情感影响和其他对残疾人的触发因素是通常影响他们的后果的例子。根据世界卫生组织(WHO)的统计数据显示，15%的人口是残疾人。下肢外骨骼是帮助患者康复过程或作为辅助设备的技术解决方案之一。下肢外骨骼中最重要的系统之一是控制系统，它具有控制规律，定义了这类设备的功能。因此，在本综述中，分析了73种下肢外骨骼中使用的各种控制方法和/或技术，并将其信息分类为不同部分，如商品名称、作为机电系统信息输入的生物信号、获取位置和力等控制参数信息的传感器、执行选定功能的执行器以及它们的常见应用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2022 International Conference on Smart Systems and Power Management (IC2SPM)

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