Review of assistive strategies in powered lower-limb orthoses and exoskeletons

• We collected lower-limb orthosis/exoskeleton papers from Web of Science and Scopus.
• We classified the collected papers according to the adopted assistive strategies.
• We reviewed each orthosis/exoskeleton focusing on their control strategy.
• We also provided the relevant validations of each assistive strategy.

Starting from the early research in the 1960s, especially in the last two decades, orthoses and exoskeletons have been significantly developed. They are designed in different architectures to assist their users’ movements. The research literature has been more prolific on lower-limb devices: a main reason is that they address a basic but fundamental motion task, walking. Leg exoskeletons are simpler to design, compared to upper-limb counterparts, but still have particular cognitive and physical requirements from the emerging human–robot interaction systems. In the state of the art, different control strategies and approaches can be easily found: it is still a challenge to develop an assistive strategy which makes the exoskeleton supply efficient and natural assistance. So, this paper aims to provide a systematic overview of the assistive strategies utilized by active locomotion–augmentation orthoses and exoskeletons. Based on the literature collected from Web of Science and Scopus, we have studied the main robotic devices with a focus on the way they are controlled to deliver assistance; the relevant validations are as well investigated, in particular experimentations with human in the loop. Finally current trends and major challenges in the development of an assistive strategy are concluded and discussed.