Research on robotic exoskeletons has rapidly expanded over the previous decade. Advances in robotic hardware and energy supplies have enabled viable prototypes for human testing. This review paper describes current lower limb robotic exoskeletons, with specific regard to common trends in the field. The preponderance of published literature lacks rigorous quantitative evaluations of exoskeleton performance, making it difficult to determine the disadvantages and drawbacks of many of the devices. We analyzed common approaches in exoskeleton design and the convergence, or lack thereof, with certain technologies. We focused on actuators, sensors, energy sources, materials, and control strategies. One of the largest hurdles to be overcome in exoskeleton research is the user interface and control. More intuitive and flexible user interfaces are needed to increase the success of robotic exoskeletons. In the last section, we discuss promising future solutions to the major hurdles in exoskeleton control. A number of emerging technologies could deliver substantial advantages to existing and future exoskeleton designs. We conclude with a listing of the advantages and disadvantages of the emerging technologies and discuss possible futures for the field.

A running animal coordinates the actions of many muscles, tendons, and ligaments in its leg so that the overall leg behaves like a single mechanical spring during ground contact. Experimental observations have revealed that an animal's leg stiffness is independent of both speed and gravity level, suggesting that it is dictated by inherent musculoskeletal properties. However, if leg stiffness was invariant, the biomechanics of running (e.g. peak ground reaction force and ground contact time) would change when an animal encountered different surfaces in the natural world. We found that human runners adjust their leg stiffness to accommodate changes in surface stiffness, allowing them to maintain similar running mechanics on different surfaces. These results provide important insight into the mechanics and control of animal locomotion and suggest that incorporating an adjustable leg stiffness in the design of hopping and running robots is important if they are to match the agility and speed of animals on varied terrain.

Although human cognition often occurs during dynamic motor actions, most studies of human brain dynamics examine subjects in static seated or prone conditions. EEG signals have historically been considered to be too noise prone to allow recording of brain dynamics during human locomotion. Here we applied a channel-based artifact template regression procedure and a subsequent spatial filtering approach to remove gait-related movement artifact from EEG signals recorded during walking and running. We first used stride time warping to remove gait artifact from high-density EEG recorded during a visual oddball discrimination task performed while walking and running. Next, we applied infomax independent component analysis (ICA) to parse the channel-based noise reduced EEG signals into maximally independent components (ICs) and then performed component-based template regression. Applying channel-based or channel-based plus component-based artifact rejection significantly reduced EEG spectral power in the 1.5- to 8.5-Hz frequency range during walking and running. In walking conditions, gait-related artifact was insubstantial: event-related potentials (ERPs), which were nearly identical to visual oddball discrimination events while standing, were visible before and after applying noise reduction. In the running condition, gait-related artifact severely compromised the EEG signals: stable average ERP time-courses of IC processes were only detectable after artifact removal. These findings show that high-density EEG can be used to study brain dynamics during whole body movements and that mechanical artifact from rhythmic gait events may be minimized using a template regression procedure.