Technical Trend of the Lower Limb Exoskeleton System for the Performance Enhancement

인체 능력 향상을 위한 하지 외골격 시스템의 기술 동향

  • Lee, Hee-Don (Department of Mechanical Engineering, Hanyang University) ;
  • Han, Chang-Soo (Department of Robot Engineering, Hanyang University ERICA)
  • Received : 2014.01.24
  • Accepted : 2014.02.03
  • Published : 2014.03.01


The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot's artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.


Supported by : 한국연구재단


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