Abstract
The exoskeleton robot system is a brand new type of human-robot cooperation system. It fully combines human intelligence and robot power so that robot intelligence and human operator’s power are both enhanced. Therefore, it achieves a high-level performance that neither robots nor humans could achieve separately. This paper describes the basic exoskeleton concepts from biological systems to human-robot intelligent systems. It is followed by an overview of the development history of exoskeleton systems and their two main applications: human power assistance and human power augmentation. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the biomechanical design, system structure modeling, human-robot interaction, and control strategy.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Lee, H. D., Yu, S. N., Lee, S. H., Han, J. S., and Han, C. S., “Development of Human-Robot Interfacing Method for Assistive Wearable robot of the Human Upper Extremities,” SICE Annual Conference, pp. 1755–1760, 2008.
Yang, C.-J., Zhang, J.-F., Chen, Y., Dong, Y.-M., and Zhang, Y., “A review of exoskeleton-type systems and their key technologies,” Proc. of the IMechE Part C: J. Mechanical Engineering Science, Vol. 222, pp. 1599–1612, 2008.
Rosen, J. and Perry, J. C., “Upper Limb Powered Exoskeleton,” International Journal of Humanoid Robotics, Vol. 4, No. 3, pp. 529–548, 2007.
Kiguchi, K., Rahman, M. H., Sasaki, M., and Teramoto, K., “Development of a 3DOF mobile exoskeleton robot for human upper-limb motion assist,” Robot and Autonomous System, Vol. 56, No. 8, pp. 678–691, 2008.
Kim, W. S., Lee, S. H., Kang, M. S., Han, J. S., and Han, C. S., “Energy Efficient Gait Pattern Generation of the Powered Robotic Exoskeleton Using DME,” IEEE/RSJ International Conference on Intelligent Robots and System (IROS), pp. 2475–2480, 2010.
Zoss, A. B., Kazerooni, H., and Chu, A., “Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX),” IEEE/ASME Transaction on Mechatronics, Vol. 11, No. 2, pp. 128–138, 2006.
Walsh, C. J., Endo, K., and Herr, H., “A quasi-passive leg exoskeleton for load-carrying augmentation,” International Journal of Humanoid Robotics, Vol. 4, pp. 487–506, 2007.
Lee, S. W. and Sankai, Y., “Virtual impedance adjustment in unconstrained motion for an exoskeletal robot assisting the lower limb,” Advanced Robotics, Vol. 19, No. 7, pp. 773–795, 2005.
Banala, S. K., Agrawal, S. K., and Scholz, J. P., “Active Leg Exoskeleton (ALEX) for Gait Rehabilitation of Motor-Impaired Patients,” Proc. of the IEEE Int. Conf. Rehab Robot, pp. 401–407, 2007.
Low, K. H., Liu, X., Goh, C. H., and Yu, H., “Locomotive Control of a Wearable Lower Exoskeleton for Walking Enhancement,” Journal of Vibration and Control, Vol. 12, No. 12, pp. 1311–1336, 2006.
Yamamoto, K., Ishii, M., Hyodo, K., Yoshimitsu, T., and Matsuo, T., “Development of Power Assisting Suit (Miniaturization of Supply System to Realize Wearable Suit),” JSME International Journal Series C, Vol. 46, No. 3, pp. 923–930, 2003.
Raytheon Company, “Time Magazine Names the XOS 2 Exoskeleton “Most Awesomest” Invention of 2010,” http://www.raytheon.com/newsroom/technology/rtn08_exoskeleton/
Yu, S. N., Han, J. S., and Han, C. S., “Development of Modulartype Knee-assistive Wearable System,” Journal of the Ergonomics Society of Korea, Vol. 29, No. 3, pp. 357–364, 2010.
Dollar, A. M. and Herr, H., “Design of a quasi-passive knee exoskeleton to assist running,” Proc. of the IEEE/RSJ Int. Conf. Intell. Rob. Syst., pp. 747–754, 2008.
Kazerooni, H. and Steger, R., “The Berkeley Lower Extremity Exoskeleton,” Journal of Dynamic Systems, Measurement, and Control, Vol. 128, No. 1, pp. 14–24, 2006.
Ikeuchi, Y. and Noda, T., “Controller for Walking Assistance Device,” US Patent, No. 0048686 A1, 2009.
Lockheed Martin Cooperation, “HULC,” http://www.lockheedmartin.com/us/products/hulc.html
EKSO Bionics, “Product Spec. Sheet,” http://www.eksobionics.com/data/downloads/Ekso_Specs.pdf
Adams, J. A., “Critical Considerations for Human-Robot Interface Development,” 2002 AAAI Fall Symposium: Human Robot Interaction Technical Report, pp. 1–8, 2002.
Bueno, L., Brunetti, F., Frizera, A., and Pons, J. L., “Human-Robot Cognitive Interaction, in: Pons, J. L. (Ed.), Wearable Robots: Biomechatronic Exoskeletons,” John Wiley & Sons, pp. 87–125, 2008.
Rocon, E. A., Ruiz, F., Raya, R., Schiele, A., and Pons, J. L., “Human-Robot Physical Interaction, in: Pons, J. L. (Ed.), Wearable Robots: Biomechatronic Exoskeletons,” John Wiley & Sons, pp. 127–163, 2008.
Kawakami, K., Kumano, S., Moromugi, S., and Ishimatsu, T., “Powered glove with electro-pneumatic actuation unit for the disabled,” Proc. of SPIE, Vol. 6794, Paper No. 67943H, 2007.
Tsutsui, Y., Sakata, Y., Tanaka, T., Kaneko, S., and Feng, M. Q., “Human joint movement recognition by using ultrasound echo based on test feature classifier,” IEEE SENSORS 2007 Conference, pp. 1205–1208, 2007.
Orizio, C., Diemont, B., Esposito, F., Alfonsi, E., Parrinello, G., Moglia, A., and Veicsteinas, A., “Surface mechanomyogram reflects the changes in the mechanical properties of muscle at fatigue,” European Journal of Applied Physiology and Occupational Physiology, Vol. 80, No. 4, pp. 276–284, 1999.
Yano, H., Kaneko, S., Nakazawa, K., Yamamoto, S.-I., and Bettoh, A., “A New Concept of Dynamic Orthosis for Paraplegia: The Weight Bearing Control (WBC) Orthosis,” Prosthetics and Orthotics International, Vol. 21, pp. 222–228, 1997.
Johnson, D. C., Repperger, D. W., and Thompson, G., “Development of a Mobility Assist for the Paralyzed, Amputee, and Spastic Patient,” Biomedical Engineering Conference, pp. 67–70, 1996.
Kazerooni, H., “Human-Robot Interaction via the Transfer of Power and Information Signal,” IEEE Transactions on System, Man, and Cybernetics, Vol. 20, No. 2, pp. 450–463, 1990.
General Electric Co., “Hardiman I Prototype Project, Special Interim Study,” General Electric Report, No. S-68-1060, 1968.
Vukobratovic, M., Hristc, D., and Stojiljkovice, Z., “Development of Active Anthropomorphic Exoskeletons,” Medical and Biological Engineering and Computing, Vol. 12, No. 1, pp. 66–80, 1974.
Downes, C. G., Hill, S. L., and Gray, J. O., “Distributed Control of an Electrically Powered Hip Orthosis,” International Conference on Control, Vol. 1, pp. 24–30, 1994.
Lee, H. D., Lee, B. K., Kim, W. S., Gil, M. S., Han, J. S., and Han, C. S., “Human-Robot Cooperative Control Based on pHRI (Physical Human-Robot Interaction) of Exoskeleton Robot for a Human Upper Extremity,” Int. J. Precis. Eng. Manuf., Vol. 13, No. 6, pp. 985–992, 2012.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Lee, H., Kim, W., Han, J. et al. The technical trend of the exoskeleton robot system for human power assistance. Int. J. Precis. Eng. Manuf. 13, 1491–1497 (2012). https://doi.org/10.1007/s12541-012-0197-x
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12541-012-0197-x