Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review.

ABSTRACT: Powered ankle exoskeletons (PAEs) are robotic devices developed for gait assistance, rehabilitation, and augmentation. To fulfil their purposes, PAEs vastly rely heavily on their sensor systems. Human-machine interface sensors collect the biomechanical signals from the human user to inform the higher level of the control hierarchy about the user's locomotion intention and requirement, whereas machine-machine interface sensors monitor the output of the actuation unit to ensure precise tracking of the high-level control commands via the low-level control scheme. The current article aims to provide a comprehensive review of how wearable sensor technology has contributed to the actuation and control of the PAEs developed over the past two decades. The control schemes and actuation principles e

SUBMITTER: Kian A 

PROVIDER: S-EPMC8954890 | biostudies-literature | 2022 Mar

REPOSITORIES: biostudies-literature