Tong M.,Xian University of Architecture and Technology |
Luo Y.,National Rehabilitation Research Center
Revista Tecnica de la Facultad de Ingenieria Universidad del Zulia | Year: 2016
To investigation state-of-the-art of compliant actuators in lower-extremity wearable robotics, we made a comprehensive survey. Compliant actuators can improve the performance of lower extremity wearable robotics in human-robot synchronization and robot-environment interaction. We firstly categorized the compliant actuators in lower extremity robotics based on the compliance mechanisms. We then analyzed the design and characteristics of the preferred compliant actuators in lower extremity wearable robotics based on the clinical applications. Based on our overview, we summarized the three issues of using compliant actuators in lower extremity wearable robotics, i.e. high profile of the mechanical structure using compliant actuators, low driving efficiency, and limited ability of continuous assistance. Finally, we envisioned some future applications of compliant actuators in lower extremity wearable robotics, such as soft wearable robotics and rehabilitation robotics. This article provides relevant theories and technologies for lower-extremity wearable robots in the application of rehabilitation.