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access icon free Section 2 - Design and control of exoskeletons

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Creating wearable robotic systems requires unique robot designs and controllers. While industrial manipulators and mobile robots have been extensively studied for over a half century, exoskeleton robots are relative new, with a very short history of less than two decades and there are still many challenges in design and control to be solved. Some major challenges, as the editors foresee, details of include the mechanism design to facilitate and ease physical human-robot interaction, the development and selection of sensors for motion and human motion intention detection, novel actuators with reduced inertia and impedance to make the exoskeletons safe and sufficiently comfortable for short-term and long-term use, and controllers that facilitate the interaction between the wearer and the exoskeleton, among others. In this section, we included four chapters to address separately the above issues.

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