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Empowering lower limbs exoskeletons: state-of-the-art

Published online by Cambridge University Press:  15 August 2018

Slavka Viteckova Open the ORCID record for Slavka Viteckova [Opens in a new window] ,
Patrik Kutilek ,
Gérard de Boisboissel ,
Radim Krupicka ,
Alena Galajdova ,
Jan Kauler ,
Lenka Lhotska  and
Zoltan Szabo
Slavka Viteckova*
Affiliation:
Faculty of Biomedical Engineering, Czech Technical University in Prague, Prague, Czechia
Patrik Kutilek
Affiliation:
Faculty of Biomedical Engineering, Czech Technical University in Prague, Prague, Czechia
Gérard de Boisboissel
Affiliation:
Saint-Cyr Military Academy Research Center, Guyer, France
Radim Krupicka
Affiliation:
Faculty of Biomedical Engineering, Czech Technical University in Prague, Prague, Czechia
Alena Galajdova
Affiliation:
Faculty of Mechanical Engineering, The Technical University of Košice, Košice, Slovakia
Jan Kauler
Affiliation:
Faculty of Biomedical Engineering, Czech Technical University in Prague, Prague, Czechia
Lenka Lhotska
Affiliation:
Faculty of Biomedical Engineering, Czech Technical University in Prague, Prague, Czechia
Zoltan Szabo
Affiliation:
Faculty of Biomedical Engineering, Czech Technical University in Prague, Prague, Czechia
*
*Corresponding author. E-mail: slavka.viteckova@fbmi.cvut.cz
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Summary

Given the advanced breakthroughs in the field of supportive robotic technologies, interest in the integration of the human body and a robot into a single system has rapidly increased. The aim of this work is to provide an overview of empowering lower limbs exoskeletons. Along with lower exoskeleton limbs, their unique design concepts, operator–exoskeleton interactions and control strategies are described. Although many problems have been solved in recent development, many challenges remain. Especially in the context of infantry soldiers, fire fighters and rescuers, the challenges of empowering exoskeletons are discussed, and improvements are outlined and described. This study is not only a summary of the current state, but also points to weaknesses of empowering lower limbs exoskeletons and outlines possible improvements.

Keywords

AugmentationEmpoweringExoskeletonLower limbsWearable robot
Type
Articles
Information
Robotica , Volume 36 , Issue 11 , November 2018 , pp. 1743 - 1756
Copyright
Copyright © Cambridge University Press 2018 

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