Biomechanical models in the lower-limb exoskeletons development: a review
Abstract Lower limb exoskeletons serve multiple purposes, like supporting and augmenting movement. Biomechanical models are practical tools to understand human movement, and motor control. This paper provides an overview of these models and a comprehensive review of the current applications of them...
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| Format: | Article |
| Language: | English |
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BMC
2025-01-01
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| Series: | Journal of NeuroEngineering and Rehabilitation |
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| Online Access: | https://doi.org/10.1186/s12984-025-01556-5 |
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| author | Vahid Firouzi Andre Seyfarth Seungmoon Song Oskar von Stryk Maziar Ahmad Sharbafi |
| author_facet | Vahid Firouzi Andre Seyfarth Seungmoon Song Oskar von Stryk Maziar Ahmad Sharbafi |
| author_sort | Vahid Firouzi |
| collection | DOAJ |
| description | Abstract Lower limb exoskeletons serve multiple purposes, like supporting and augmenting movement. Biomechanical models are practical tools to understand human movement, and motor control. This paper provides an overview of these models and a comprehensive review of the current applications of them in assistive device development. It also critically analyzes the existing literature to identify research gaps and suggest future directions. Biomechanical models can be broadly classified as conceptual and detailed models and can be used for the design, control, and assessment of exoskeletons. Also, these models can estimate unmeasurable or hard-to-measure variables, which is also useful within the aforementioned applications. We identified the validation of simulation studies and the enhancement of the accuracy and fidelity of biomechanical models as key future research areas for advancing the development of assistive devices. Additionally, we suggest using exoskeletons as a tool to validate and refine these models. We also emphasize the exploration of model-based design and control approaches for exoskeletons targeting pathological gait, and utilizing biomechanical models for diverse design objectives of exoskeletons. In addition, increasing the availability of open source resources accelerates the advancement of the exoskeleton and biomechanical models. Although biomechanical models are widely applied to improve movement assistance and rehabilitation, their full potential in developing human-compatible exoskeletons remains underexplored and requires further investigation. This review aims to reveal existing needs and cranks new perspectives for developing more effective exoskeletons based on biomechanical models. |
| format | Article |
| id | doaj-art-3a61c7a50c8c481092f9bfbf57b4364a |
| institution | Kabale University |
| issn | 1743-0003 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | BMC |
| record_format | Article |
| series | Journal of NeuroEngineering and Rehabilitation |
| spelling | doaj-art-3a61c7a50c8c481092f9bfbf57b4364a2025-01-26T12:18:37ZengBMCJournal of NeuroEngineering and Rehabilitation1743-00032025-01-0122112010.1186/s12984-025-01556-5Biomechanical models in the lower-limb exoskeletons development: a reviewVahid Firouzi0Andre Seyfarth1Seungmoon Song2Oskar von Stryk3Maziar Ahmad Sharbafi4Department of Computer Science, TU DarmstadtInstitute of Sport Science, TU DarmstadtDepartment of Mechanical and Industrial Engineering, Northeastern UniversityDepartment of Computer Science, TU DarmstadtInstitute of Sport Science, TU DarmstadtAbstract Lower limb exoskeletons serve multiple purposes, like supporting and augmenting movement. Biomechanical models are practical tools to understand human movement, and motor control. This paper provides an overview of these models and a comprehensive review of the current applications of them in assistive device development. It also critically analyzes the existing literature to identify research gaps and suggest future directions. Biomechanical models can be broadly classified as conceptual and detailed models and can be used for the design, control, and assessment of exoskeletons. Also, these models can estimate unmeasurable or hard-to-measure variables, which is also useful within the aforementioned applications. We identified the validation of simulation studies and the enhancement of the accuracy and fidelity of biomechanical models as key future research areas for advancing the development of assistive devices. Additionally, we suggest using exoskeletons as a tool to validate and refine these models. We also emphasize the exploration of model-based design and control approaches for exoskeletons targeting pathological gait, and utilizing biomechanical models for diverse design objectives of exoskeletons. In addition, increasing the availability of open source resources accelerates the advancement of the exoskeleton and biomechanical models. Although biomechanical models are widely applied to improve movement assistance and rehabilitation, their full potential in developing human-compatible exoskeletons remains underexplored and requires further investigation. This review aims to reveal existing needs and cranks new perspectives for developing more effective exoskeletons based on biomechanical models.https://doi.org/10.1186/s12984-025-01556-5Assistive deviceBiomechanical modelExoskeletonLower-limbNeuromuscular model |
| spellingShingle | Vahid Firouzi Andre Seyfarth Seungmoon Song Oskar von Stryk Maziar Ahmad Sharbafi Biomechanical models in the lower-limb exoskeletons development: a review Journal of NeuroEngineering and Rehabilitation Assistive device Biomechanical model Exoskeleton Lower-limb Neuromuscular model |
| title | Biomechanical models in the lower-limb exoskeletons development: a review |
| title_full | Biomechanical models in the lower-limb exoskeletons development: a review |
| title_fullStr | Biomechanical models in the lower-limb exoskeletons development: a review |
| title_full_unstemmed | Biomechanical models in the lower-limb exoskeletons development: a review |
| title_short | Biomechanical models in the lower-limb exoskeletons development: a review |
| title_sort | biomechanical models in the lower limb exoskeletons development a review |
| topic | Assistive device Biomechanical model Exoskeleton Lower-limb Neuromuscular model |
| url | https://doi.org/10.1186/s12984-025-01556-5 |
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