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

• Autorzy: Hamza Mukhtar Fatihu , Ghazilla Raja Ariffin Raja , Muhammad Bashir Bala , Yap Hwa Jen

Identyfikatory

DOI

10.1016/j.bbe.2020.09.004

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

exoskeleton; Lyapunov; zero moment point; centre of mass; extrapolated centre of mass

PL

egzoszkielet; Lyapunov; punkt zerowy

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2020
• Tom: Vol. 40, no. 4
• Strony: 1666--1679
• Opis fizyczny: Bibliogr. 134 poz., rys., tab.

Twórcy

autor

Hamza Mukhtar Fatihu

• Department of Mechanical Engineering, University of Malaya, 50603 Kuala Lumpur, Malaysia; Department of Mechatronics Engineering, Bayero University, Kano, Nigeria

autor

Ghazilla Raja Ariffin Raja

• Department of Mechanical Engineering, University of Malaya, Kuala Lumpur, Malaysia

autor

Muhammad Bashir Bala

• School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, China

autor

Yap Hwa Jen

• Department of Mechanical Engineering, University of Malaya, Kuala Lumpur, Malaysia

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