Institute for Health and Sport, Victoria University, Melbourne, VIC 3000, Australia.
College of Engineering and Science, Victoria University, Melbourne, VIC 3000, Australia.
Sensors (Basel). 2022 Mar 14;22(6):2244. doi: 10.3390/s22062244.
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 employed in the reviewed PAEs, as well as their interaction with the integrated sensor systems, are investigated in this review. Further, the role of wearable sensors in overcoming the main challenges in developing fully autonomous portable PAEs is discussed. Finally, a brief discussion on how the recent technology advancements in wearable sensors, including environment-machine interface sensors, could promote the future generation of fully autonomous portable PAEs is provided.
助力踝关节外骨骼（PAE）是为步态辅助、康复和增强而开发的机器人设备。为了实现其目的，PAE 极大地依赖于它们的传感器系统。人机接口传感器从人体用户收集生物力学信号，以便将用户的运动意图和要求告知高层控制层次，而机器对机器接口传感器则监测致动器的输出，以确保通过低级控制方案精确跟踪高级控制命令。本文旨在全面回顾可穿戴传感器技术在过去二十年中对 PAE 的驱动和控制的贡献。在本综述中研究了所审查的 PAE 中采用的控制方案和驱动原理，以及它们与集成传感器系统的相互作用。此外，还讨论了可穿戴传感器在克服开发完全自主便携式 PAE 的主要挑战方面的作用。最后，简要讨论了可穿戴传感器（包括环境-机器接口传感器）的最新技术进步如何促进未来完全自主便携式 PAE 的发展。
