Exoskeletons for lower-limb rehabilitation

Powered lower-limb exoskeletons are emerging as a suitable robot-aided therapy for the human-impaired locomotion. These devices have been designed to safely restore the human motor skills through active muscle activation delivered throughout task-oriented and repetitive gait therapy. In this chapter, we revise the current status and the clinical effectiveness, safety, and usability exhibited by the most advanced wearable exoskeletons proposed for the gait rehabilitation. We also give an overview of the traditional actuation technologies applied in wearable exoskeletons and the alternative actuation mechanisms that are being applied based on compliant actuation or lightweight mechanisms. Moreover, we describe the promising directions with regard to the control strategies to guide the patient according to his needs and encourage his active participation in gait therapy. Novel horizons involving the human-exoskeleton symbiotic interaction via interfaces with neural structures are also introduced.