title: Biomechanical considerations in the design of lower limb exoskeletons.
abstract: This paper presents an analysis of the human biomechanical considerations related to the development of lower limb exoskeletons. Factors such as kinematic alignment and compatibility, joint range of motion, maximum torque, and joint bandwidth are discussed in the framework of a review of the design specifications for exoskeleton prototypes discussed in the literature. From this analysis, we discuss major gaps in the research related to the topic and how those might be filled.
authors.affiliation: Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT 06511, USA. massimo.cenciarini@yale.edu
authors.forename: Massimo
authors.initials: M
authors.lastname: Cenciarini
authors.forename: Aaron M
authors.initials: AM
authors.lastname: Dollar
mesh_terms: D001696:Biomechanical Phenomena; D004867:Equipment Design; D006801:Humans; D035002:Lower Extremity / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*