title: Towards compliant and wearable robotic orthoses: A review of current and emerging actuator technologies.
abstract: Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while overcoming the availability and cost constraints of therapists. However, current orthosis actuation systems use components designed for industrial applications, not specifically for interacting with humans. This can limit orthoses' capabilities and, if their users' needs are not adequately considered, contribute to their abandonment. Here, a user centered review is presented on: requirements for orthosis actuators; the electric, hydraulic, and pneumatic actuators currently used in orthoses and their advantages and limitations; the potential of new actuator technologies, including smart materials, to actuate orthoses; and the future of orthosis actuator research.
authors.affiliation: Department of Mechanical Engineering, The University of Auckland, 20 Symonds Street, Auckland 1010, New Zealand. Electronic address: avea007@aucklanduni.ac.nz.
authors.forename: Allan Joshua
authors.initials: AJ
authors.lastname: Veale
authors.affiliation: Department of Mechanical Engineering, The University of Auckland, 20 Symonds Street, Auckland 1010, New Zealand.
authors.forename: Shane Quan
authors.initials: SQ
authors.lastname: Xie
mesh_terms: D004867:Equipment Design / Q000379:methods*; D006801:Humans; D055595:Mechanical Phenomena; D009989:Orthotic Devices; D012371:Robotics / Q000295:instrumentation*
keywords: Actuators; Exoskeletons; Rehabilitation robotics; Smart materials; User centered design