A REVIEW ON HUMAN–EXOSKELETON COORDINATION TOWARDS LOWER LIMB ROBOTIC EXOSKELETON SYSTEMS
Yue Ma, Xinyu Wu, Jingang Yi, Can Wang, and Chunjie Chen
Keywords
Lower limb exoskeleton robot, human–robot coordination controlstrategy
Abstract
The study of lower extremity exoskeleton robots has been pursued
for many years and is now receiving significant attention. A number
of review articles have focused on describing the mechanical design
of exoskeleton robots, their control methods, human–exoskeleton
robot interfaces, and so on. None, however, have focused on the
coordination of control between humans and these kinds of robots.
In this paper, we examine the research regarding human–exoskeleton
robot coordinated control to capture the current state-of-the-art.
One hundred and fifty six relevant articles were collected and
screened from the Web of science, and classified into six categories,
based on human neurobiology and exoskeleton robots’ assistive
effects. These categories were further subdivided according to their
perspective on human–exoskeleton robots coordinated control. The
paper extensively reviews various control methods we uncovered and
how they are coordinated between wearer and exoskeleton robot.
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