Systematic review of mechanical designs of rehabilitation exoskeletons for lower-extremity

Exoskeletons of lower extremities are used mainly for gait treatment in physical rehabilitation. However, they are also capable of being involved in other types of exercises. Nevertheless, their structure needs to be adequately adjusted for such applications. To analyse approaches to that, this review paper investigates the mechanical designs of rehabilitation exoskeletons for lower extremities. The study seeks to identify best practices in designing and implementing these devices by analysing fifty-two articles. It covers aspects such as kinematic structures, materials used, types of drives, and the range of exercises. Standard design features include multiple degrees of freedom, primarily at the hip, knee, and ankle joints, and using lightweight materials to enhance mobility and reduce power consumption. The review also discusses the advantages of different driving systems. The findings provide valuable insights for developing effective and safe rehabilitation exoskeletons, contributing to improved patient outcomes in physiotherapy and rehabilitation settings.