Exoskeleton technology has made significant advances during the last decade, resulting in
a considerable variety of solutions for gait assistance and rehabilitation. The mechanical …

Lower body wearable robots, or lower limb exoskeletons, have developed rapidly in the past
decade. These devices can be separated into three different categories: assistive …

Knowledge of human-exoskeleton interaction forces is crucial to assess user comfort and
effectiveness of the interaction. The subject-exoskeleton collaborative movement and its …

Active lower limb exoskeletons are increasingly used in rehabilitation therapy. An important
aspect and ongoing research topic in developing such assistive devices is safe human …

Sensors and actuators are the core components of all mechatronic systems used in a broad
range of diverse applications. A relatively new and rapidly evolving area is the one of …

Background Currently, control of exoskeletons in rehabilitation focuses on imposing desired
trajectories to promote relearning of motions. Furthermore, assistance is often provided by …

Active exoskeletons for the lower extremities are increasingly being used in rehabilitation
therapy. One of the key areas of research in developing these assistive devices is ensuring …

Background In the last decades, several powered ankle-foot orthoses have been developed
to assist the ankle joint of their users during walking. Recent studies have shown that the …

This article focuses on the control of an actuated knee joint orthosis. The proposed solution
is a novel model predictive control framework dedicated to assistive and rehabilitation …

A shared design goal for most robotic lower limb exoskeletons is to reduce the metabolic
cost of locomotion for the user. Despite this, only a limited amount of devices was able to …