Recent Advances in Exoskeleton Systems: Design Principles, Control Methods, and Safety Considerations

Exoskeleton systems represent a rapidly advancing field of wearable robotics designed to enhance human physical performance through close human–robot interaction. By integrating human intelligence with robotic strength and endurance, these systems have found applications in rehabilitation, industrial assistance, military operations, and teleoperation. This paper presents a comprehensive review of exoskeleton systems and the key technologies involved in their development. The study focuses on biomechanical design principles, including anthropomorphic structures, joint kinematics, actuator placement, ergonomic considerations, and structural adaptability. Furthermore, the importance of human–robot cooperation, system architecture, and function allocation between the user and the robotic system is discussed. Various control strategies, particularly human-in-the-loop control approaches, are examined with emphasis on motion planning, intention recognition, and real-time interaction. In addition, safety and reliability issues are reviewed, including impact force reduction, compliant mechanisms, motion-limiting devices, and fault-tolerant control methods. The findings indicate that advances in biomechanics, robotics, sensing technologies, and intelligent control systems have significantly improved the performance and usability of exoskeletons. These developments are expected to facilitate broader adoption of exoskeleton technologies and strengthen their role in future human–machine systems.

کلیدواژه ها:

Exoskeleton Systems ، Wearable Robotics ، Biomechanical Design ، Human–Robot Interaction ، Human-in-the-Loop Control ، Safety and Reliability ، Rehabilitation Engineering ، Teleoperation