A Review on Locomotion Mode Recognition and Prediction When Using Active Orthoses and Exoskeletons

Understanding how to seamlessly adapt the assistance of lower-limb wearable assistive devices (active orthosis (AOs) and exoskeletons) to human locomotion modes (LMs) is challenging. Several algorithms and sensors have been explored to recognize and predict the users' LMs. Nevertheless, it is not yet clear which are the most used and effective sensor and classifier configurations in AOs/exoskeletons and how these devices' control is adapted according to the decoded LMs. To explore these aspects, we performed a systematic review by electronic search in and databases, including published studies from 1 January 2010 to 31 August 2022. Sixteen studies were included and scored with 84.7 ± 8.7% quality. Decoding focused on level-ground walking along with ascent/descent stairs tasks performed by healthy subjects. Time-domain raw data from inertial measurement unit sensors were the most used data. Different classifiers were employed considering the LMs to decode (accuracy above 90% for all tasks). Five studies have adapted the assistance of AOs/exoskeletons attending to the decoded LM, in which only one study predicted the new LM before its occurrence. Future research is encouraged to develop decoding tools considering data from people with lower-limb impairments walking at self-selected speeds while performing daily LMs with AOs/exoskeletons.