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Mechanical Sensing for Lower Limb Soft Exoskeletons: Recent Progress and Challenges.

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Soft exoskeletons offer monitoring and assistance for mobility impairments, enabling longer independent living. Advancements in soft sensing are key, but wearability challenges impact sensing function and robustness.

Keywords:
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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Rehabilitation Technology

Background:

  • Soft exoskeletons are emerging as a promising alternative to rigid designs for aiding individuals with mobility impairments.
  • Unlike rigid exoskeletons, soft exoskeletons require innovative soft sensing and actuation technologies for effective function.
  • Their application in monitoring and prolonging independent living necessitates advancements in human-body interaction.

Purpose of the Study:

  • To provide an overview of soft exoskeletons, contrasting them with rigid counterparts.
  • To focus on recent progress in movement monitoring for lower limb soft exoskeletons.
  • To highlight challenges and future directions in soft exoskeleton technology.

Main Methods:

  • Review of existing literature on soft exoskeletons and their sensing technologies.
  • Analysis of compliant materials and soft tactile sensing for joint angle measurement.
  • Discussion of challenges related to human-exoskeleton interaction and wearability.

Main Results:

  • Soft exoskeletons show potential for monitoring and assistance in mild impairments.
  • Smart sensorized garments using compliant materials and soft tactile sensing can measure joint angles.
  • Current research highlights challenges in achieving robust sensing due to wearability issues.

Conclusions:

  • Soft exoskeletons require novel soft sensing and actuation solutions.
  • Joint angle measurement is crucial for control and monitoring in lower limb applications.
  • Overcoming wearability challenges is essential for the future success of soft exoskeletons.