The-state-of-the-art of soft robotics to assist mobility: A review of physiotherapist and patient identified limitations of current lower-limb exoskeletons and the potential soft-robotic solutions

Morris, Leah; Diteesawat, Richard S.; Rahman, Nahian; Turton, Ailie; Cramp, Mary; Rossiter, Jonathan

Abstract

Background: Soft, wearable, powered exoskeletons are novel devices that may assist rehabilitation, allowing users to walk further or carry out activities of daily living. However, soft robotic exoskeletons, and the more commonly used rigid exoskeletons, are not widely adopted clinically. The available evidence highlights a disconnect between the needs of exoskeleton users and the engineers designing devices. This review aimed to explore the literature on physiotherapist and patient perspectives of the longer-standing, and therefore greater evidenced, rigid exoskeleton limitations. It then offered potential solutions to these limitations, including soft robotics, from an engineering standpoint. Methods: A state-of-the-art review was carried out which included both qualitative and quantitative research papers regarding patient and/or physiotherapist perspectives of rigid exoskeletons. Papers were themed and themes formed the review’s framework. Results: Six main themes regarding the limitations of soft exoskeletons were important to physiotherapists and patients: safety; a one-size-fits approach; ease of device use; weight and placement of device; cost of device; and, specific to patients only, appearance of the device. Potential soft-robotics solutions to address these limitations were offered, including compliant actuators, sensors, suit attachments fitting to user’s body, and the use of control algorithms. Conclusions: It is evident that current exoskeletons are not meeting the needs of their users. Solutions to the limitations offered may inform device development. However, the solutions are not infallible and thus further research and development is required.

• Journal Article Type: Review
• Acceptance Date: Dec 16, 2022
• Online Publication Date: Jan 30, 2023
• Publication Date: Jan 30, 2023
• Deposit Date: Jan 30, 2023
• Publicly Available Date: Jan 30, 2023
• Journal: Journal of NeuroEngineering and Rehabilitation
• Print ISSN: 1743-0003
• Electronic ISSN: 1743-0003
• Publisher: BioMed Central
• Peer Reviewed: Peer Reviewed
• Volume: 20
• Issue: 1
• Pages: 18
• DOI: https://doi.org/10.1186/s12984-022-01122-3
• Keywords: Health Informatics; Rehabilitation; Mobility, Patient, Therapist, Exoskeleton, Assistive device, Soft robotics
• Public URL: https://uwe-repository.worktribe.com/output/10394187
• Publisher URL: https://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-022-01122-3