A systematical review on the control of lower-limb exoskeleton

摘要

Over the past decades, lower-limb exoskeleton research has expanded rapidly. With advances in robotic hardware and energy supplies, viable prototypes can be tested with humans. The applications of lower-limb exoskeletons have become widespread for rehabilitation purposes and augmenting humans' ability to lift heavy objects or walk long distances with less fatigue. However, the real-time and interactive control of the lower-limb exoskeleton with human body has yet to be perfected. This review starts with control theory, analyzes and summarizes some exoskeleton control's current state of art and challenges, and provides a guideline for future work.