外骨骼
下肢
控制器(灌溉)
控制(管理)
计算机科学
机制(生物学)
工程类
控制工程
物理医学与康复
模拟
人工智能
医学
外科
农学
生物
哲学
认识论
作者
Yuanxi Sun,Yuntao Tang,Zheng Jia,Dianbiao Dong,Xiaohong Chen,Long Bai
标识
DOI:10.1016/j.arcontrol.2022.04.003
摘要
As a typical application of the human-computer interaction device, the lower limb exoskeleton has attracted many researchers' attention in recent years in an attempt to improve its functionality in human body assistance, augmentation, treatment, and protection. Essentially, the interaction between the lower limb exoskeleton and the subject is mainly realized through its sensing and control system. The sensing and control of lower limb exoskeletons will significantly affect the subject's actual wearing effect in lower extremity assistance or enhancement. However, due to the limitations of sensing and control techniques, the lower limb exoskeleton is still challenging to achieve a large-scale popularization and application. Therefore, this paper investigated the literature regarding the sensing and control of lower limb exoskeletons in recent years and studied the influences of different sensor signals and controller modeling on the exoskeleton performance. In addition, the current research challenges of insufficient stability and comfort in lower limb exoskeleton control are discussed, and possible innovative insights of functional material-based actuation, invasive and epidermal electronic sensing, and data-driven deep learning are analyzed in-depth. Some future research directions of the exoskeleton control are also provided to facilitate the further development of the exoskeleton control.
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