High-level control architecture of lower limb exoskeleton: A review

Abstract

As a rehabilitation robot for aiding in the movement of lower limbs, the lower limb exoskeleton is a beneficial device. In order to make the most effective use of the exoskeleton, the control strategy plays a crucial role. This review paper provides a background and classification of lower limb exoskeleton control strategies, such as model-based and hierarchy-based control. Further, we presented mainly the high-level control architecture of lower limb exoskeletons, which is aimed at detecting the intention of human movement. An in-depth discussion is provided in this paper regarding manual user input (MUI), surface electromyography (sEMG), and brain-computer interface (BCI). Many people need exoskeletons, which is why this review was written. Exoskeletons, however, are expensive and cannot be mass-produced, and their control methods are immature, making them ineffective. Thus, the objective of this review is to identify research gaps and common limitations in previous research to obtain future directions for improving the usability of the control mechanism. In an alternative approach, MUI and BCI are combined to reduce the time spent switching movement modes and the amount of concentration required to do so.