Abstract
In this work, a general concept of the human-exoskeleton compatibility and interaction control is addressed. Rehabilitation, as applied to humans with motor control disorder, involves repetitive gait training in relation to lower limb extremity and repetitive task training in relation to upper limb extremity. It is in this regard that exoskeletal systems must be kinematically compatible with those of the subject in order to guarantee that the subject is being trained properly. The incompatibility between the wearable robotic device and the wearer results in joint misalignment, thus introducing interaction forces during movement. This, therefore, leads to the introduction of the need for interaction control in wearable robotic devices. Human-exoskeleton joint alignment is an uphill task; hence, measures to actualize this in order to guarantee the safety and comfort of humans are necessary. These measures depend on the types of joints involved in the rehabilitation or assistive process. Hence, several upper and lower extremity exoskeletons with concepts relating to interaction forces reduction are reviewed. The significant distinction in the modelling strategy of lower and upper limb exoskeletons is highlighted. Limitations of certain exoskeletal systems which may not allow the application of interaction control are also discussed.
Highlights
Exoskeletal devices are characterized by their anthropomorphic nature. ey are usually fitted with actuators at the human joint level and possess a level of the intelligence of humans in conjunction with robot mechanical strength [4].e main purpose of these devices is to provide patients with limb disabilities a medium by which they can augment or restore a measure of their motor function so as to enable them to regain partial or complete control of their limbs [5]
According to Garcia-Aracil et al [3], about 75% of stroke sufferers survive 1 year after. is proportion is envisaged to increase in the coming years due to emerging technologies committed to providing additional therapeutic exercises through robotic interventions
E main purpose of these devices is to provide patients with limb disabilities a medium by which they can augment or restore a measure of their motor function so as to enable them to regain partial or complete control of their limbs [5]. It necessitates the design of rehabilitative and assistive protocols intended to be executed via certain control strategies. ese protocols may be designed based on two approaches, which are motion intention detection and prespecified targeted task
Summary
Disabilities in the upper and lower limbs of humans may be age-related, accident-related, or pathology-related [1]. Mobility disorder caused by SCI or related illnesses in people has been on the increase in recent years [4]. Patients with such disorders are often dependant on others in order to carry out their day-to-day activities. Disabilities or chronic conditions which may have resulted in the physical limitations of some patients often require assistive technologies in the form of exoskeletons and soft robotics. Ese assistive technologies do help enhance and prolong the patient’s independence Assistive robotics, in this case, is inclined towards the assistance of individuals with limited physical capabilities due to accident, disease, or illness and ageing people with reduced physical strength
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