Wearable Robots for Rehabilitation Engineering

Dear Colleagues,

Wearable robots and exoskeletons are important devices in medical fields, providing functionalities to assist people who are unable to move their bodies in a typical manner. Stroke is one of the most significant reasons for weakness and disability in the world and stroke patients need rehabilitation therapy to address these weaknesses. Since the early 1990s, many robotic devices for rehabilitation have been designed and developed. However, these devices cannot be used by the patients alone because they are cumbersome to use, heavily weighted, produce significant inertia, can cause joint misalignment, have static and dynamic friction, and exhibit backlash–hysteresis. Lower-limb exoskeletons can contain single or multiple joints. In a single-joint device, only one joint (e.g., pelvis, knee or ankle) is used; in a multiple-joint device, more than one hinge (e.g., ankle, knee, and hip) is actuated. The application areas of lower-limb exoskeletons include rehabilitation therapy. In recent years, many kinds of research on control approaches for knee joints have been conducted. A suitable control scheme is essential to ensure exoskeletons meet the requirements of the wearer. Dynamic system complexity, including the exoskeleton, its wearer’s accessories, and external disturbances, makes traditional controllers inappropriate. This complexity and system nonlinearity motivate researchers to suggest a variety of suitable controllers.

Dr. Mehdi Rakhtalarostami
Guest Editor

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