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http://dx.doi.org/10.5302/J.ICROS.2014.14.9023

Technical Trend of the Lower Limb Exoskeleton System for the Performance Enhancement  

Lee, Hee-Don (Department of Mechanical Engineering, Hanyang University)
Han, Chang-Soo (Department of Robot Engineering, Hanyang University ERICA)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.3, 2014 , pp. 364-371 More about this Journal
Abstract
The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot's artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.
Keywords
lower limb exoskeleton; exoskeleton system; wearable robot system; human performance enhancement system;
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