Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies

Allan Joshua Veale; Shane Quan Xie

doi:10.1016/j.medengphy.2016.01.010

Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies

Med Eng Phys. 2016 Apr;38(4):317-25. doi: 10.1016/j.medengphy.2016.01.010. Epub 2016 Feb 26.

Authors

Allan Joshua Veale¹, Shane Quan Xie²

Affiliations

¹ Department of Mechanical Engineering, The University of Auckland, 20 Symonds Street, Auckland 1010, New Zealand. Electronic address: avea007@aucklanduni.ac.nz.
² Department of Mechanical Engineering, The University of Auckland, 20 Symonds Street, Auckland 1010, New Zealand.

PMID: 26923385
DOI: 10.1016/j.medengphy.2016.01.010

Abstract

Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while overcoming the availability and cost constraints of therapists. However, current orthosis actuation systems use components designed for industrial applications, not specifically for interacting with humans. This can limit orthoses' capabilities and, if their users' needs are not adequately considered, contribute to their abandonment. Here, a user centered review is presented on: requirements for orthosis actuators; the electric, hydraulic, and pneumatic actuators currently used in orthoses and their advantages and limitations; the potential of new actuator technologies, including smart materials, to actuate orthoses; and the future of orthosis actuator research.

Keywords: Actuators; Exoskeletons; Rehabilitation robotics; Smart materials; User centered design.

Publication types

Research Support, Non-U.S. Gov't
Review

MeSH terms

Equipment Design / methods*
Humans
Mechanical Phenomena*
Orthotic Devices*
Robotics / instrumentation*