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Grant support

This research was funded by the Spanish Ministry of Science and Innovation, project Discover2Walk (PID 2019-105110RB-C31). JL-M received a Training Program for Academic Staff fellowship (FPU16/01313) from the Ministry of Universities of the Government of Spain. JM was supported by grant RTI 2018-097290-B-C32 funded by MCIN/AEI/10.13039/501100011033 and by ERDF A way of making Europe.

Analysis of institutional authors

Lora-Millan, JsAuthor

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September 27, 2022
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Coordination Between Partial Robotic Exoskeletons and Human Gait: A Comprehensive Review on Control Strategies

Publicated to:Frontiers In Bioengineering And Biotechnology. 10 (842294): 842294- - 2022-05-25 10(842294), DOI: 10.3389/fbioe.2022.842294

Authors: Lora-Millan, Julio S; Moreno, Juan C; Rocon, E

Affiliations

Cajal Inst Neurobiol, Spanish Natl Res Council CSIC, Neural Rehabil Grp, Madrid, Spain - Author
Univ Politecn Madrid UPM, Consejo Super Invest Cient CSIC, Ctr Automation & Robot, Madrid, Spain - Author
Univ Rey Juan Carlos, Elect Technol Dept, Madrid, Spain - Author

Abstract

Lower-limb robotic exoskeletons have become powerful tools to assist or rehabilitate the gait of subjects with impaired walking, even when they are designed to act only partially over the locomotor system, as in the case of unilateral or single-joint exoskeletons. These partial exoskeletons require a proper method to synchronize their assistive actions and ensure correct inter-joint coordination with the user's gait. This review analyzes the state of the art of control strategies to coordinate the assistance provided by these partial devices with the actual gait of the wearers. We have analyzed and classified the different approaches independently of the hardware implementation, describing their basis and principles. We have also reviewed the experimental validations of these devices for impaired and unimpaired walking subjects to provide the reader with a clear view of their technology readiness level. Eventually, the current state of the art and necessary future steps in the field are summarized and discussed.

Keywords

Ankle-foot orthosisAssistanceC-alexControl strategiesCoordination strategiesCoordination strategyExoskeleton (robotics)Gait assistanceHip exoskeletonsHuman gaitJoints (anatomy)Knee exoskeletonLeg movementLimbLower limbMuscle-activityOrthosesRobotic exoskeletonsSingle-joint powered orthosisSoft exosuitState of the artState-of-the-artStroke survivorsUnilateral robotic exoskeletonWalking aids

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Frontiers In Bioengineering And Biotechnology due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2022, it was in position 16/73, thus managing to position itself as a Q1 (Primer Cuartil), in the category Multidisciplinary Sciences.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 4.55, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-16, the following number of citations:

  • WoS: 10
  • Scopus: 13
  • Europe PMC: 5

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-16:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 38.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 40 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 3.45.
  • The number of mentions on the social network X (formerly Twitter): 5 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Lora Millán, Julio Salvador) .