GS2-6 Powered Ankle Exoskeletons: Existent Designs and Control Systems

Title:	GS2-6 Powered Ankle Exoskeletons: Existent Designs and Control Systems
Publication:	ICAROB2018
Volume:	23
Pages:	76-83
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.GS2-6
Author(s):	A.H Weerasingha, W.P.K Withanage, A.D.K.H Pragnathilaka, R.K.P.S Ranaweera, R.A.R.C Gopura
Publication Date:	February 2, 2018
Keywords:	powered ankle exoskeleton, mechanisms, actuation methods, control methods
Abstract:	This paper performs a comprehensive review on active ankle exoskeletons powered by external means. Initially, anatomy of the ankle joint complex is highlighted. Next, associated research challenges and design difficulties are recognized for the development of robotic hardware systems. Then, mechanisms, actuation methods, and control methods are systematically presented. Here, exoskeletons designs from 2005 to 2017 were studied to recognize the latest paradigm shifts. As such, this paper provides a classification, a comparison and an overview of related technologies. Finally, design recommendations are made for the development of powered ankle exoskeletons.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS2/GS2-6.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/