A comprehensive survey of lower limb assistive exoskeleton robots: Models, dynamics, mechanics, and control

Movement disorders of the lower limbs due to stroke lead to abnormal walking and affect life, which requires the rehabilitation of patients to improve treatment. Lower limb exoskeleton robots are used to reduce the burden of therapists in rehabilitation. This comprehensive review addresses the multidisciplinary realm of lower limb assistive exoskeleton robots and extensively explores their models, dynamics, mechanics, sensors, actuators, and control. This survey examines various modeling approaches, including musculoskeletal dynamics, human–robot interaction, and complex interactions between the mechanical structure of the exoskeleton and the human body. In addition, it deals with the dynamics and mechanics underlying design and covers areas such as kinematics, energy transfer mechanisms, and the innovative application of adaptive mechanisms. The report also goes into great detail about the control systems built into these exoskeletons, talking about things like complex control architectures, real-time adaptation, and smooth coordination with the user’s movements. Also, the study goes into great detail about human aspects and user experience, which helps us understand the important link between technology and human interaction. This survey is an important tool for researchers, doctors, and engineers that will help them make progress and generate new ideas in assistive robotics.