Abstract
Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.
Highlights
Nowadays, people work even more strenuously and require stronger and longer lasting muscle movements
Human muscles have a fatigue limit when doing regular and repetitive activities. To help overcome this fatigue limit, some researchers have suggested that humans use an external wearable device, i.e., an exoskeleton
The types of lower limb exoskeletons based on joint motions are differentiated into several types based on how the actuators drive the exoskeleton
Summary
People work even more strenuously and require stronger and longer lasting muscle movements. Known as a wearable robotic, is a system that can be worn to help human beings to support and protect parts of their bodies [1]. Such a device has been used for many applications, including enhancing workers when doing their jobs or as medical tools for rehabilitation. The lower limbs of the human body have more important roles than the other parts. The joints in the lower limb of the human body are the hips, knees, and ankles. The types of lower limb exoskeletons based on joint motions are differentiated into several types based on how the actuators drive the exoskeleton.
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