Аннотация
The number of elderly populations is rapidly increasing. Majority of elderly people face difficulties while walking because the muscular activity or other gait-related parameters start to deteriorate with aging. Therefore, the quality of life among them can be suffered. To make their life more comfortable, service providing robotic solutions in terms of wearable powered exoskeletons should be realized. Assistive powered exoskeletons are capable of providing additional torque to support various activities, such as walking, sit to stand, and stand to sit motions to subjects with mobility impairments. Specifically, the powered exoskeletons try to maintain and keep subjects' limbs on the specified motion trajectory. The state of the art of currently available lower limb assistive exoskeletons for weak and elderly people is presented in this paper. The technology employed in the assistive devices, such as actuation and power supply types, control strategies, their functional abilities, and the mechanism design, is thoroughly described. The outcome of studied literature reveals that there is still much work to be done in the improvement of assistive exoskeletons in terms of their technological aspects, such as choosing proper and effective control methods, developing user friendly interfaces, and decreasing the costs of device to make it more affordable, meanwhile ensuring safe interaction for the end-users.