Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

被引：32

作者：

Masengo, Gilbert ^{[1
,2
,3
]}

Zhang, Xiaodong ^{[1
,2
]}

Dong, Runlin ^{[1
,2
]}

Alhassan, Ahmad B. ^{[1
,2
]}

Hamza, Khaled ^{[1
,2
]}

Mudaheranwa, Emmanuel ^{[3
,4
]}

机构：

[1] Xi An Jiao Tong Univ, Sch Mech Engn, Xian, Peoples R China

[2] Xi An Jiao Tong Univ, Shaanxi Key Lab Intelligent Robot, Xian, Peoples R China

[3] Integrated Polytech Reg Coll IPRC Karongi, Rwanda Polytech, Dept Mech Engn, Kigali, Rwanda

[4] Cardiff Univ, Dept Engn, Cardiff, Wales

来源：

FRONTIERS IN NEUROROBOTICS | 2023年 / 16卷

基金：

中国国家自然科学基金;

关键词：

human-robot; cooperative control; exoskeleton; physiological signals; actuator; SLIDING MODE CONTROL; IMPEDANCE CONTROL; REHABILITATION; WALKING; JOINT; RECOGNITION; ALGORITHMS; PROSTHESES; INTERFACE; TRACKING;

D O I：

10.3389/fnbot.2022.913748

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Effective control of an exoskeleton robot (ER) using a human-robot interface is crucial for assessing the robot's movements and the force they produce to generate efficient control signals. Interestingly, certain surveys were done to show off cutting-edge exoskeleton robots. The review papers that were previously published have not thoroughly examined the control strategy, which is a crucial component of automating exoskeleton systems. As a result, this review focuses on examining the most recent developments and problems associated with exoskeleton control systems, particularly during the last few years (2017-2022). In addition, the trends and challenges of cooperative control, particularly multi-information fusion, are discussed.

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页数：25

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