{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T12:13:52Z","timestamp":1762431232850,"version":"3.41.0"},"reference-count":82,"publisher":"IGI Global","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2017,1]]},"abstract":"<jats:p>This literature review of exoskeleton design provides a brief history of exoskeleton development, discusses current research of exoskeletons with respect to the innate human-machine interface, and the incorporation of exoskeletons for ergonomic intervention, and offers a review of needed future work. Development of assistive exoskeletons began in the 1960's but older designs lacked design for human factors and ergonomics and had low power energy density and power to weight ratios. Advancements in technology have spurred a broad spectrum of research aimed at enhancing human performance and assisting in rehabilitation. The review underwent a holistic and extensive search and provides a reflective snapshot of the state of the art in exoskeleton design as it pertains to the incorporation of exoskeletons for ergonomic intervention. Some of the remaining challenges include improving the energy density of exoskeleton power supplies, improving the power to weight ratio of actuation devices, improving the mechanical human-machine interface, and dealing with variability between users.<\/jats:p>","DOI":"10.4018\/ijrat.2017010101","type":"journal-article","created":{"date-parts":[[2017,1,31]],"date-time":"2017-01-31T15:10:28Z","timestamp":1485875428000},"page":"1-19","source":"Crossref","is-referenced-by-count":11,"title":["Current Work in the Human-Machine Interface for Ergonomic Intervention with Exoskeletons"],"prefix":"10.4018","volume":"5","author":[{"given":"Thomas Michael","family":"Schnieders","sequence":"first","affiliation":[{"name":"Iowa State University, Ames, IA, USA"}]},{"given":"Richard T.","family":"Stone","sequence":"additional","affiliation":[{"name":"Iowa State University, Ames, IA, USA"}]}],"member":"2432","reference":[{"key":"IJRAT.2017010101-0","article-title":"Bionic Exoskeleton: History, Development and the Future. IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE","author":"H.Ali","year":"2014","journal-title":"International Conference on Advances in Engineering & Technology"},{"key":"IJRAT.2017010101-1","unstructured":"Army (2014). Army Explores Futuristic Uniform for SOCOM. The Official Homepage of the United States Army. Retrieved from http:\/\/www.army.mil"},{"key":"IJRAT.2017010101-2","unstructured":"Army-technology.com. (n. d.). Raytheon XOS 2 Exoskeleton, Second-Generation Robotics Suit. Retrieved from http:\/\/www.army-technology.com\/projects\/raytheon-xos-2-exoskeleton-us\/"},{"key":"IJRAT.2017010101-3","doi-asserted-by":"crossref","unstructured":"Asbeck, A. T., Dyer, R. J., Larusson, A. F., & Walsh, C. J. (2013). Biologically-Inspired Soft Exosuit. Proceedings of the IEEE International Conference on Rehabilitation Robotics.","DOI":"10.1109\/ICORR.2013.6650455"},{"key":"IJRAT.2017010101-4","doi-asserted-by":"publisher","DOI":"10.1109\/86.895950"},{"key":"IJRAT.2017010101-5","unstructured":"Beattie, E., McGill, N., Parrotta, N., & Vladimirov, N. (2012). Titan: A Powered, Upper-Body Exoskeleton. Retrieved from http:\/\/www.contact.astm.org\/studentmember\/images\/2012_SParrotta_Paper.pdf"},{"key":"IJRAT.2017010101-6","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.1011262"},{"key":"IJRAT.2017010101-7","doi-asserted-by":"publisher","DOI":"10.1108\/01439910310506864"},{"key":"IJRAT.2017010101-8","first-page":"663","article-title":"Development of Robots for Rehabilitation Therapy: The Palo Alto VA\/Stanford Experience.","volume":"37","author":"C. G.Burgar","year":"2000","journal-title":"Journal of Rehabilitation Research and Development"},{"key":"IJRAT.2017010101-9","doi-asserted-by":"crossref","unstructured":"Casolo, F., Cinquemani, S., & Cocetta, M. (2008). On Active Lower Limb Exoskeletons Actuators. Proceedings of the5th International Symposium on Mechatronics and Its Applications.","DOI":"10.1109\/ISMA.2008.4648796"},{"key":"IJRAT.2017010101-10","doi-asserted-by":"crossref","unstructured":"Cavallaro, E. E., Rosen, J., Perry, J. C., & Burns, S. (2006). Real-Time Myoprocessors for a Neural Controlled Powered Exoskeleton Arm. IEEE Transactions on Biomedical Engineering, 53(11), 2387-2396.","DOI":"10.1109\/TBME.2006.880883"},{"key":"IJRAT.2017010101-11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570789"},{"key":"IJRAT.2017010101-12","unstructured":"Cyberglove systems. (n. d.). CyberGrasp."},{"issue":"1","key":"IJRAT.2017010101-13","first-page":"11","article-title":"Pneumatic Artificial Muscles: Actuators for Robotics and Automation.","volume":"47","author":"F.Daerden","year":"2002","journal-title":"European Journal of Mechanical and Environmental Engineering"},{"key":"IJRAT.2017010101-14","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339622"},{"key":"IJRAT.2017010101-15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915453"},{"key":"IJRAT.2017010101-16","unstructured":"Dombrowksi, P., & Coval, D. (2012). Private First Class Wing Man. J. Swanson School of Engineering, 4."},{"key":"IJRAT.2017010101-17","unstructured":"Ekso Bionics. (2014, November 17). Exoskeleton, Wearable Robot for People with Paralysis from SCI or Stroke."},{"key":"IJRAT.2017010101-18","article-title":"Robotic Lower Limb Exoskeletons Using Proportional Myoelectric Control.","author":"D. P.Ferris","year":"2009","journal-title":"Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference"},{"key":"IJRAT.2017010101-19","unstructured":"Foundation for Spinal Cord Injury Prevention. (2014, November 14). Care and Cure. Retrieved from http:\/\/www.fscip.org\/facts.htm"},{"key":"IJRAT.2017010101-20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651012"},{"key":"IJRAT.2017010101-21","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2009.5209630"},{"key":"IJRAT.2017010101-22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5353935"},{"key":"IJRAT.2017010101-23","doi-asserted-by":"crossref","unstructured":"Guizzo, E., and Goldstein, H., (2005) The Rise of the Body Bots [Robotic Exoskeletons]. Spectrum, 42(10), 50-56.","DOI":"10.1109\/MSPEC.2005.1515961"},{"key":"IJRAT.2017010101-24","doi-asserted-by":"publisher","DOI":"10.1017\/S026357479800068X"},{"issue":"21","key":"IJRAT.2017010101-25","article-title":"Exoskeletons and Orthoses: Classification, Design Challenges, and Future Directions.","volume":"6","author":"H.Herr","year":"2009","journal-title":"Journal of Neuroengineering and Rehabilitation"},{"key":"IJRAT.2017010101-26","unstructured":"Hogan, N., Krebs, H.I., Sharon, A., and Charnarong, J., (1995) Interactive Robot Therapist."},{"key":"IJRAT.2017010101-27","doi-asserted-by":"crossref","unstructured":"Housman, S. J., Le, V., Rahman, T., Sanchez, R. J., & Reinkensmeyer, D. J. (2007) Arm-Training with T-WREX After Chronic Stroke: Preliminary Results of a Randomized Controlled Trial. IEEE 10th International Conference on Rehabilitation Robotics ICORR \u201807 (pp. 562-568). IEEE.","DOI":"10.1109\/ICORR.2007.4428481"},{"key":"IJRAT.2017010101-28","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.1992.253907"},{"key":"IJRAT.2017010101-29","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2013.05.003"},{"key":"IJRAT.2017010101-30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545451"},{"key":"IJRAT.2017010101-31","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065505"},{"key":"IJRAT.2017010101-32","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2012.2185843"},{"key":"IJRAT.2017010101-33","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.11.007"},{"key":"IJRAT.2017010101-34","doi-asserted-by":"crossref","unstructured":"Kirsh, R. F., & Au, A. T. C. (1997) EMG-Based Motion Intention Detection for Control of a Shoulder Neuroprosthesis. Proceedings of the IEEE International Conference of the Engineering in Medicine and Biology Society (Vol. 5, pp. 1944-1945).","DOI":"10.1109\/IEMBS.1997.758719"},{"key":"IJRAT.2017010101-35","doi-asserted-by":"publisher","DOI":"10.1001\/archneur.1997.00550160075019"},{"key":"IJRAT.2017010101-36","first-page":"1750","article-title":"A Discrimination System Using Neural Networks for EMG-Control Prostheses-Integral type of EMG Signal Processing.","author":"K.Kuribayashi","year":"1993","journal-title":"Proceedings of 1993 IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"IJRAT.2017010101-37","doi-asserted-by":"crossref","unstructured":"Lalami, M., Hasssani, Rifai, H., Hasssani, W., Mohammad, S., Fried, G., & Amirat, Y. (2013). Output Feedback Control of an Actuated Lower Limb Orthosis with Bounded Input. International Journal of Industrial Robots, 40(6).","DOI":"10.1108\/IR-05-2013-363"},{"key":"IJRAT.2017010101-38","doi-asserted-by":"publisher","DOI":"10.1299\/jamdsm.7.736"},{"key":"IJRAT.2017010101-39","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2011.10.004"},{"key":"IJRAT.2017010101-40","unstructured":"Lockheed Martin. (n. d.). HULC."},{"key":"IJRAT.2017010101-41","doi-asserted-by":"crossref","unstructured":"Lucas, L., DiCicco, M., Matsuoka, Y., (2004) An EMG-Controlled Hand Exoskeleton for Natural Pinching. Journal of Robotics and Mechatronics, 16(5).","DOI":"10.20965\/jrm.2004.p0482"},{"key":"IJRAT.2017010101-42","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2005.02.0044"},{"key":"IJRAT.2017010101-43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2189496"},{"key":"IJRAT.2017010101-44","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364112"},{"key":"IJRAT.2017010101-45","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2009.2026057"},{"key":"IJRAT.2017010101-46","unstructured":"Mizen, N. J. (1965) Preliminary Design for the Shoulders and Arms of a Powered, Exoskeletal Structure. Cornell Aeronautical Laboratory Report VO-1692-V-4."},{"key":"IJRAT.2017010101-47","doi-asserted-by":"publisher","DOI":"10.1007\/s11517-007-0226-6"},{"key":"IJRAT.2017010101-48","unstructured":"Perry, J., & Rosen, J. (2006) Design of a 7 degree-of-freedom upper-limb powered exoskeleton. Proceedings of the First IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob \u201806 (pp. 805 \u2013810)."},{"key":"IJRAT.2017010101-49","doi-asserted-by":"crossref","unstructured":"Perry, J. C., Rosen, J., & Burns, S. (2007) Upper-limb powered exoskeleton design. IEEE\/ASME Transactions on Mechatronics, 12(4), 408-417.","DOI":"10.1109\/TMECH.2007.901934"},{"key":"IJRAT.2017010101-50","unstructured":"Pneumatic-Hydraulic Actuator System. Patent US 4647004A. (n. d.)."},{"key":"IJRAT.2017010101-51","doi-asserted-by":"crossref","unstructured":"Pons, J.L., Moreno, J.C., Brunetti, F.J., & Rocon, E. (2007). Lower-limb Wearable Exoskeleton. In S.S. Kommu (Ed.), Rehabilitation Robotics (pp. 772-474). Retrieved from http:\/\/www.intechopen.com\/books\/rehabilitation_robotics\/lower-limb_wearable_exoskeelton","DOI":"10.5772\/5176"},{"key":"IJRAT.2017010101-52","doi-asserted-by":"crossref","unstructured":"Pons, J.L., Rocon, E., Ruiz, A.F., Morenso, J.C. (2007) Upper-Limb Robotic Rehabilitation Exoskeleton: Tremor Suppression. In Rehabilitation Robotics (pp. 453-470).","DOI":"10.5772\/5175"},{"key":"IJRAT.2017010101-53","article-title":"The RoboKnee: An Exoskeleton for Enhancing Strength and Endurance During Walking.","author":"J. E.Pratt","year":"2014","journal-title":"Proceedings of the 2004 IEEE International Conference on Robotics & Automation"},{"key":"IJRAT.2017010101-54","doi-asserted-by":"publisher","DOI":"10.1109\/86.750543"},{"key":"IJRAT.2017010101-55","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2009.5209482"},{"key":"IJRAT.2017010101-56","unstructured":"ReWalk. (2014, September 23). ReWalk Robotics Announces Reimbursement Coverage by Major German Insurance Company (press release). Retrieved from http:\/\/www.rewalk.com\/rewalk-robotics-announces-reimbursement-coverage-by-major-german-insurance-company\/"},{"key":"IJRAT.2017010101-57","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.903917"},{"key":"IJRAT.2017010101-58","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501096"},{"key":"IJRAT.2017010101-59","first-page":"532","article-title":"The Human Arm Kinematics and Dynamics During Daily Activities-Toward a 7 DOF Upper Limb Powered Exoskeleton. ICAR'05.","author":"J.Rosen","year":"2005","journal-title":"Proceedings of 12th International Conference on Advanced Robotics"},{"key":"IJRAT.2017010101-60","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2006.881553"},{"key":"IJRAT.2017010101-61","unstructured":"Sansoni, S., Wodehouse, A., & Buis, A. (2014) The Aesthetics of Prosthetic Design: From Theory to Practice. Proceedings of theInternational Design Conference, Dubrovnik \u2013 Croatia."},{"key":"IJRAT.2017010101-62","article-title":"Occupational and Physical Therapy Using a Hand Exoskeleton Based Exerciser.","author":"I.Sarakoglou","year":"2004","journal-title":"Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"IJRAT.2017010101-63","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-23"},{"key":"IJRAT.2017010101-64","first-page":"37","article-title":"Development and Pilot Testing of HEXORR: Hand EXOskeleton Rehabilitation Robot.","volume":"7","author":"C. N.Schabowksy","year":"2010","journal-title":"Journal of Neuroengineering and Rehabilitation"},{"key":"IJRAT.2017010101-65","unstructured":"Schiele, A. (2007) Undesired Constraint Forces in Non-Ergonomic Wearable Exoskeletons. Extended Abstract for IROS\u201907 Workshop on Assistive Technologies: Rehabilitation and Assistive Robotics."},{"key":"IJRAT.2017010101-66","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2006.881565"},{"key":"IJRAT.2017010101-67","doi-asserted-by":"publisher","DOI":"10.1109\/3468.618265"},{"key":"IJRAT.2017010101-68","unstructured":"Singh, R. M., & Chatterji, S. (2012) Trends and Challenges in EMG Based Control Scheme of Exoskeleton Robots \u2013 A Review. International Journal of Scientific & Engineering Research, Vol. 3, Issue 8."},{"key":"IJRAT.2017010101-69","unstructured":"Singularity HUB. (n. d.). US Army to Build Armored Talos Suit That Merges Man and Machine."},{"key":"IJRAT.2017010101-70","doi-asserted-by":"publisher","DOI":"10.5405\/jmbe.987"},{"journal-title":"Design of a 2-Finger Hand Exoskeleton for VR Grasping Simulation","year":"2003","author":"P.Stergiopoulos","key":"IJRAT.2017010101-71"},{"key":"IJRAT.2017010101-72","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2003.812600"},{"key":"IJRAT.2017010101-73","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281965"},{"key":"IJRAT.2017010101-74","first-page":"984","author":"Y.Umetani","year":"1999","journal-title":"\u2018Skil Mate\u2019, Wearable Exoskeleton Robot"},{"key":"IJRAT.2017010101-75","article-title":"Contribution to the Study of Active Exoskeleton.","author":"M.Vukobratovic","year":"1972","journal-title":"Proceedings of the 5th International Federation of Automatic Control Congress"},{"key":"IJRAT.2017010101-76","doi-asserted-by":"crossref","unstructured":"Winder, S. B., & Esposito, J. M. (2008). Modeling and control of an upper-body exoskeleton. Proceedings of the 40th Southeastern Symposium on System Theory SSST \u201808 (pp. 263-268). IEEE.","DOI":"10.1109\/SSST.2008.4480234"},{"key":"IJRAT.2017010101-77","unstructured":"Wyss Institute. (n. d.). Soft Exosuit: Lightweight suit to increase the wearer\u2019s strength and endurance. Retrieved from http:\/\/wyss.harvard.edu\/viewpage\/456"},{"key":"IJRAT.2017010101-78","doi-asserted-by":"crossref","unstructured":"Yuan, P., Wang, T., Ma, F., & Gong, M. (2014) Key Technologies and Prospects of Individual Combat Exoskeleton. In Knowledge Engineering and Management (pp. 305-316).","DOI":"10.1007\/978-3-642-37832-4_28"},{"key":"IJRAT.2017010101-79","doi-asserted-by":"publisher","DOI":"10.1179\/2045772312Y.0000000003"},{"key":"IJRAT.2017010101-80","doi-asserted-by":"publisher","DOI":"10.1163\/156855306778394030"},{"key":"IJRAT.2017010101-81","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.871087"}],"container-title":["International Journal of Robotics Applications and Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.igi-global.com\/viewtitle.aspx?TitleId=176933","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,14]],"date-time":"2025-06-14T22:06:28Z","timestamp":1749938788000},"score":1,"resource":{"primary":{"URL":"http:\/\/services.igi-global.com\/resolvedoi\/resolve.aspx?doi=10.4018\/IJRAT.2017010101"}},"subtitle":[""],"short-title":[],"issued":{"date-parts":[[2017,1]]},"references-count":82,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.4018\/ijrat.2017010101","relation":{},"ISSN":["2166-7195","2166-7209"],"issn-type":[{"type":"print","value":"2166-7195"},{"type":"electronic","value":"2166-7209"}],"subject":[],"published":{"date-parts":[[2017,1]]}}}