Research of the direction of development of musculoskeletal system exoskeletons

Authors:

Konstantin K. Shcherbina, Grand PhD in Medical sciences (Dr. Med. Sci), Director of the Institute of Prosthetics and Orthotics of the Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht, Bestuzhevskaya Street 50, 195067 Saint Petersburg, Russian Federation; е-mail: shcherbina180@mail.ru

Mihail A. Golovin, Master of Applied Physics, Head of the Labouratory of the Institute of Prosthetics and Orthotics of the Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht, Bestuzhevskaya Street 50, 195067 Saint Petersburg, Russian Federation; e-mail: golovin@center-albreht.ru

Marina V. Zolotukhina, Master of Applied Physics, junior researcher of the Institute of Prosthetics and Orthotics of the Federal Scientific Center of Rehabilitation of the Disabled named after G.A. Albrecht, Bestuzhevskaya Street 50, 195067 Saint Petersburg, Russian Federation.

Annotation:

Introduction. Medical rehabilitation with use of technical rehabilitation devices is actively developing.
Increasingly, the use of exoskeletons of the limbs is encountered in the practice of specialists. At the same time, in Russia there is no clear definition of what exoskeleton is from the point of view of medical rehabilitation, and the generally accepted classification of such devices. At the same time, in order to form medical and technical requirements for exoskeletons and other assistive devices, it is necessary to take into account not only the current technical and technological capabilities, but to have a planning horizon of 3–5 years to use promising producer goods in the manufacture of innovative medical equipment, including prototypes. The analysis of the current trends in the studied class of devices can help to resolve this problem.

Aim. Determine the direction of development of robotic and mechatronic devices for restoring the patient’s motor activity on the basis of the proposed classification.

Materials and methods. The study was conducted on the basis of the analysis of materials from ScienceDirect scientific databases, elibrary.ru for the period from 1997 to 2019 using the method of publication activity analysis on the proposed criteria. Additionally, information was collected from the official websites of manufacturers.

Results. The objective quantitative data on exoskeletons used in medical rehabilitation or being developed for use in the considered area was obtained. It has been established that mobile exoskeletons are of more interest for developers (59%) than stationary ones. Exoskeletons for the lower limbs and pelvis (68%) prevail over models for the upper limbs and shoulder girdle. The share of exoskeletons with non-adaptive control is more than 56%. The paradigm shift from the development and implementation of adaptive management principles to combined ones in 2010 is clearly visible, with the combined management principle prevailing in 2015 (more than 66%). By the involvement of the exoskeleton in the movement being implemented, passive-active exoskeletons are distinguished (51.2%).

Conclusion. As a result of the research, the current direction of exoskeleton development is shown: passive- active exoskeletons, mobile exoskeletons of the lower limbs and pelvis, exoskeletons with an adaptive combined control principle.

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