Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art

  title={Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art},
  author={Aaron M. Dollar and Hugh M. Herr},
  journal={IEEE Transactions on Robotics},
In the nearly six decades since researchers began to explore methods of creating them, exoskeletons have progressed from the stuff of science fiction to nearly commercialized products. While there are still many challenges associated with exoskeleton development that have yet to be perfected, the advances in the field have been enormous. In this paper, we review the history and discuss the state-of-the-art of lower limb exoskeletons and active orthoses. We provide a design overview of hardware… CONTINUE READING
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