Balance and stability issues in lower extremity exoskeletons: A systematic review

被引:23
|
作者
Hamza, Mukhtar Fatihu [1 ,2 ]
Ghazilla, Raja Arif Raja [1 ]
Muhammad, Bashir Bala [3 ]
Yap, Hwa Jen [1 ]
机构
[1] Univ Malaya, Dept Mech Engn, Kuala Lumpur 50603, Malaysia
[2] Bayero Univ, Dept Mechatron Engn, Kano, Nigeria
[3] Northwestern Polytech Univ, Sch Mech Engn, Xian, Peoples R China
关键词
Exoskeleton; Stability; Lyapunov; Zero moment Point; Centre of mass; Extrapolated Centre of mass; SLIDING MODE CONTROL; POSTURAL STABILITY; ANGULAR-MOMENTUM; CONTROL SCHEME; BIPED ROBOTS; BODY BALANCE; LIMB; WALKING; DESIGN; CONTROLLER;
D O I
10.1016/j.bbe.2020.09.004
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
The lower extremity exoskeletons (LEE) are used as an assistive device for disabled people, rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all the applications of LEE, the dynamic and static balance, prevention of falling, ensuring controller stability and smooth human-exoskeleton interaction are of critical importance for the safety of LEE users. Although numerous studies have been conducted on the balance and stability issues in LEEs, there is yet to be a systematic review that provides a holistic viewpoint and highlights the current research challenges. This paper reviews the advances in the inclusion of falling recognition, balance recovery and stability assurance strategies in the design and application of LEEs. The current status of research on LEEs is presented. It has been found that Zero Moment Point (ZMP), Centre of Mass (CoM) and Extrapolated Center of mass (XCoM) ideas are mostly used for balancing and prevention of falling. In addition, Lyapunov stability criteria are the dominant methods for controller stability confirmation and smooth human-exoskeleton interaction. The challenges and future trend of this domain of research are discussed. Researchers can use this review as a basis to further develop methods for ensuring the safety of LEE's users. (c) 2020 Published by Elsevier B.V. on behalf of Nalecz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences.
引用
收藏
页码:1666 / 1679
页数:14
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