A Comprehensive Review of Elbow Exoskeletons: Classification by Structure, Actuation, and Sensing Technologies

Area of Science:

• Rehabilitation Engineering
• Robotics
• Biomechanics

Background:

• Wearable robotic exoskeletons are advancing for motor rehabilitation and assistance.
• Elbow exoskeletons are crucial for upper limb function, especially after neurological injuries like stroke.
• Evaluating these devices for user comfort, adaptability, and clinical relevance is increasingly important.

Purpose of the Study:

• To review recent advancements in elbow exoskeleton technology.
• To evaluate the effectiveness of current elbow exoskeleton systems.
• To identify key design challenges and limitations in the field.

Main Methods:

• Devices were categorized by mechanical structure (rigid, soft, hybrid), actuation method, and sensing technologies.
• Systems were classified based on supported range of motion (flexion-extension, supination-pronation, or both).
• A systematic analysis of features was conducted to identify trends and gaps.

Main Results:

• Current design trends and common trade-offs in elbow exoskeleton development were highlighted.
• Key research gaps were identified, informing future research directions.
• The review provides a comprehensive overview of the state-of-the-art in elbow exoskeleton technology.

Conclusions:

• Further development is needed to create more practical, effective, and accessible elbow exoskeletons.
• Addressing identified design challenges will enhance user experience and clinical utility.
• This review serves as a guide for future innovations in assistive and rehabilitative robotics.