Towards Bidirectional and Coadaptive Robotic Exoskeletons for Neuromotor Rehabilitation and Assisted Daily Living: a Review

Abstract

Starting with a technical categorization and an overview of current exoskeletons and orthoses and their applications, this review focuses on robotic exoskeletons and orthoses for neuromotor rehabilitation and relevant research needed to provide individualized adaptive support to people under complex environmental conditions, such as assisted daily living. Many different approaches from the field of autonomous robots have recently been applied to the control of exoskeletons. In addition, approaches from the field of brain-computer interfaces for intention recognition are being intensively researched to improve interaction. Finally, besides stimulation, bidirectional feedback and feedback-based learning are recognized as very important to enable individualized, flexible, and adaptive human assistance. AI-based methods for adaptation and online learning of robotic exoskeleton control, combined with intrinsic recognition of human intentions and consent, will in particular lead to improving the quality of human–robot interaction and thus user satisfaction with exoskeleton-based rehabilitation interventions.