DOI:
https://doi.org/10.14483/22487638.23473Publicado:
30-09-2025Número:
Vol. 29 Núm. 85 (2025): Julio - SeptiembreSección:
RevisiónExploring Control Approaches for Robot-Based Gait Rehabilitation and Locomotion Assistance: A Comprehensive Review
Exploración de enfoques de control para la rehabilitación de la marcha y asistencia a la locomoción basada en robots: Una revisión exhaustiva
Palabras clave:
Adaptive control strategy, Assist-As-Needed control, Human-Robot interaction, Human-Robot synchronization, Lower limb exoskeleton, Robot-assisted gait rehabilitation (en).Palabras clave:
Estrategia de control adaptativo, Control Assist-As-Needed, Interacción Humano-Robot, Sincronización Humano-Robot, Exoesqueleto de miembros inferiores, Rehabilitación de la marcha asistida por robots (es).Descargas
Resumen (en)
Context: Robot-assisted gait rehabilitation is a rapidly evolving field that aims to enhance therapeutic outcomes through the integration of advanced robotic systems. These systems reduce the physical burden on therapists while enabling intensive and repetitive patient training. However, current methods often require manual adjustments tailored to individual gait patterns, limiting their generalizability and efficiency.
Objective: This paper provides a comprehensive review of control approaches for robot-based gait rehabilitation and locomotion assistance, focusing on improving adaptability and human-robot synchronization. The goal is to identify effective techniques and methods that optimize exoskeleton performance and improve patient outcomes. Methodology: A state-of-the-art review was conducted through a structured literature search across multiple scientific databases to identify research on lower-limb exoskeletons, centering on control strategies for robot-assisted gait rehabilitation. The search initially employed broad keywords such as “lower limb exoskeletons,” “extremity lower exoskeletons,” and “lower limb robotic exoskeletons,” among others. It was then refined using more specific terms including “lower limb exoskeleton control,” “assisted gait control,” “assistance control strategy,” “wearable robots control,” and “robotic rehabilitation,” among others. Well-defined inclusion criteria ensured thematic relevance, methodological rigor, and comprehensive coverage of recent advancements. A total of 77 studies meeting these criteria were analyzed to identify and categorize control approaches, and to discuss their scope, advantages, and limitations rather than directly assessing their clinical effectiveness or patient outcome improvements. Future research should focus on data-driven control methods to address individual variability and improve exoskeleton adaptability.
Results: The review highlights a taxonomy of essential control strategies for robot-assisted gait, such as trajectory tracking based on position, force-impedance control, control driven by bio-signals, and adaptive control techniques. Real-time adaptive strategies, such as Velocity Field Control and Assist-As-Needed approaches, demonstrate strong potential for improving synchronization and reducing manual tuning requirements.
Conclusions: Adaptive control strategies, particularly Assist-As-Needed controllers, are effective in encouraging active patient participation and optimizing rehabilitation outcomes.
Financing: This research work received funding from Universidad del Valle under the project "Plataforma tecnológica modular para la valoración objetiva de la marcha humana" (C.I. 21259) and from the Ministry of Science, Technology, and Innovation (Minciencias - Open call 647).
Resumen (es)
Contexto: la rehabilitación de la marcha asistida por robots es un campo en rápida evolución que busca mejorar los resultados terapéuticos mediante la integración de sistemas robóticos avanzados. Estos sistemas reducen la carga física sobre los terapeutas y permiten entrenamientos intensivos y repetitivos para los pacientes. Sin embargo, los métodos actuales suelen requerir ajustes manuales adaptados a los patrones de marcha individuales, lo que limita su generalización y eficiencia.
Objetivo: este artículo presenta una revisión integral de los enfoques de control utilizados en la rehabilitación y asistencia de la marcha mediante robots, con énfasis en mejorar la adaptabilidad y la sincronización humano-robot. El objetivo es identificar técnicas y métodos efectivos que optimicen el desempeño de los exoesqueletos y contribuyan a mejorar los resultados en los pacientes. Metodología: se realizó una revisión del estado del arte a través de una búsqueda estructurada de literatura en múltiples bases de datos científicas para identificar investigaciones sobre exoesqueletos de miembros inferiores con enfoque en estrategias de control para la rehabilitación robótica de la marcha. La búsqueda inicial utilizó palabras clave generales como “lower limb exoskeletons”, “extremity lower exoskeletons” y “lower limb robotic exoskeletons”, entre otras. Posteriormente, se refinó empleando términos más específicos, incluidos “lower limb exoskeleton control”, “assisted gait control”, “assistance control strategy”, “wearable robots control” y “robotic rehabilitation”, entre otros. Se aplicaron criterios de inclusión claramente definidos que aseguraron la relevancia temática, el rigor metodológico y la cobertura de los avances más recientes. Un total de 77 estudios que cumplían con estos criterios fueron analizados para identificar y categorizar enfoques de control, así como para discutir su alcance, ventajas y limitaciones, más que para evaluar directamente su efectividad clínica o su impacto en los resultados de los pacientes. Se sugiere que futuras investigaciones se centren en métodos de control basados en datos para abordar la variabilidad individual y mejorar la adaptabilidad de los exoesqueletos.
Resultados: la revisión resalta una taxonomía de estrategias de control esenciales para la rehabilitación robótica de la marcha, como el seguimiento de trayectoria basado en posición, el control de fuerza-impedancia, el control basado en bioseñales y las técnicas de control adaptativo. Las estrategias adaptativas en tiempo real, como Velocity Field Control y los enfoques de Assist-As-Needed, muestran un alto potencial para mejorar la sincronización y reducir la necesidad de ajustes manuales. Conclusiones: las estrategias de control adaptativo, especialmente el control Assist-As-Needed, resultan efectivas para fomentar la participación activa del paciente y optimizar los resultados en los procesos de rehabilitación.
Financiamiento: este trabajo de investigación recibió financiamiento de la Universidad del Valle, bajo el proyecto "Plataforma tecnológica modular para la valoración objetiva de la marcha humana" (C.I. 21259), y el Ministerio de Ciencia, Tecnología e Innovación (Convocatoria abierta 647).
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