State-of-the-art Research in Perception and Control of Lower Limb Exoskeletons: A Systematic Review

The lower limb exoskeleton is an intelligent robot worn by the human body and moves in coordination with the human limbs. It can enhance the human body's weight-bearing capacity, maneuverability and operation capabilities. Perception and control, as the brain of the exoskeleton robot, directly determine its collaborative performance and auxiliary effect with the main body. However, the current lower limb exoskeleton has not been widely adopted. One of the reasons is that the ‘brain’ of the exoskeleton robot is not intelligent enough. Therefore, this article reviewed relevant literature on lower limb exoskeleton sensing and control technology in the past five years, and studied the impact of different sensing methods and control strategies on exoskeleton performance. In addition, this article discusses the current challenges of lower limb exoskeletons and provides some innovative insights into future research directions to promote the further development of lower limb exoskeleton technology.