Table 2.
Information on the components of device
| Device | Reference | Power supply unit | Execution unit | Control unit | ||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Support to the lower limb | Actuator | Sensor | Controller | Valve | Data acquisition system | User interface | ||||
| Foot-sole stimulation system | (Hao et al., 2013) [20] | An air compressor | A plastic boot | A linear pneumatic actuator consisting of a single-acting, single rod air cylinder (CG1BN32-40-XC6, SMC, Tokyo, Japan) | N.A. | A microprocessor (MSP 430 F168, Texas Instruments, Dallas, TX, USA) | A proportional electro-pneumatic valve, five-port air-operated valve | N.A. | An LCD display and four control buttons | |
| Dual-drive foot-sole stimulator | (Zhang et al., 2019) [21] | An air-compressor (GL0205, Greeloy, Shanghai, China) | A plastic boot | Two air cylinders (CG1BN32-40XC6, SMC, Tokyo, Japan) | N.A. | A microcontroller (MSP430F168, Texas Instruments, Dallas, TX, United States) | Two five-port solenoid valves (SY51205LZD-C6, SMC Corporation, Tokyo, Japan), a proportional valve (ITV2030-312 L, SMC Corporation, Spain) | N.A. | A custom-developed user interface based on Matlab (The mathworks, Inc., Natick, MA, United States) | |
| The Korvit boot system |
(Kremneva et al., 2012) [22] (Labriffe et al., 2017) [23] (Jeanvoine et al., 2022) [24] |
A compressor | A plastic boot | Pneumatic ortheses (with cylinder pneumatic cameras built in the insoles) | N.A. | N.A. | N.A. | N.A. | N.A. | |
| Foot pedal manipulandum | (Trinastic et al., 2010) [25] | N.A. | A customized pedal | N.A. | N.A. | N.A. | N.A. | N.A. | N.A. | |
| Plantar flexion force measure apparatus | (Noble et al., 2014) [26] | N.A. | syringes | N.A. | A pressure transducer | N.A. | N.A. | N.A. | N.A. | |
| Bra.Di.P.O. |
(Belforte et al., 2010) [27] (Belforte et al., 2012) [28] |
N.A. | A customized pedal | A pneumatic actuator | A custom-built analogue optical encoder and a pressure transducer | N.A. | 5 eletrovalves, 3 OR valves, 2 flow regulators, a pressure reducer, a pneumatically controlled bistable valve, a low-high pressure valve, a plunger valve | N.A. | N.A. | |
| Bipedal device | (Doolittle et al., 2021) [29] | N.A. | A customized pedal | N.A. | Reaction torque sensors (Transducer Techniques, TRS2K); a glass/ceramic hybrid electrolytic sensor (angle sensor) | N.A. | N.A. | A data acquisition device (Quanser, Q8-USB) via Simulink (mathworks) | N.A. | |
| Pedaling device |
(Mehta et al., 2009) [31] (Mehta et al., 2012) [32] (Promjunyakul et al., 2015) [33] |
N.A. | A customized pedal | N.A. | An optical encoder (model TD 5207, Micronor Inc., CA) | N.A. | N.A. | Data acquisition software (micro 1401 mk II and Spike, Cambridge Electronics Design, UK) | A laptop computer | |
| Torque-measuring apparatus | (Newton et al., 2008) [30] | N.A. | A customized pedal | N.A. | A 6-axis load cell (model 45E15A; Woodland, CA) | N.A. | N.A. | A 12-bit data acquisition card (DAS1200, Measurement Computing, Middleboro, MA) | Custom software (Matlab, Mathworks, Natick MA) | |
| Pseudogait-MRCD |
(Martínez et al., 2014) [34] (Martínez et al., 2016) [35] |
N.A. | A special treadmill | N.A. | Four cable potentiometers, optical encoder (Hewlett Packard HEDS-5540, with 10-bits resolution) | N.A. | N.A. | Device Acquisition System (a data acquisition PCI card (Sensoray Model 626) | A personal computer | |
| Cylindrical treadmill device | (Toyomura et al., 2018) [36] | N.A. | A special treadmill | Pneumatic actuation | N.A. | N.A. | N.A. | N.A. | N.A. | |
| MARCOS |
(Hollnagel et al., 2011) [37] (Hollnagel et al., 2013) [38] (Jaeger et al., 2014) [39] (Jaeger et al., 2015) [40] (Jaeger et al., 2016) [41] |
N.A. | A customized lower limb exoskeleton | Two pneumatic actuations (DNC 40-320-P-K10-S11 (knee), DNC 32-350-P-K10-S11 (foot) Festo, Esslingen am Neckar, Germany) | Optical encoders (Type MS20, RSF Elektronik AG, Schwerzenbach, Switzerland) with a ceramic scale and one foil potentiometer (MTP L22, Resenso, Ins, Switzerland) and resistive strain gauges (force sensors) | A low-level pneumatics controller and a high-level stepping controller | Proportional flow valves, pressure-control valves, a proportional multiway valve | Data acquisition boards | Two personal computers | |
| LOMS |
(Takahiro et al., 2011) [42] (Ikeda et al., 2012) [43] (Takahiro et al., 2013) [44] (Ikeda et al., 2015) [45] |
An air compressor | A customized lower limb exoskeleton | Two Mckibben-type pneumatic artificial muscles | Six rotary potentiometers (Murata Manufacturing Co., Ltd.) | A controller(SH4: General Robotix, Ibaraki, Japan) | Two solenoid valves | N.A. | N.A. | |
Abbreviation Bra.Di.P.O., brain discovery pneumatic orthosis; pseudogait-MRCD, pseudogait-magnetic resonance compatible device; MARCOS, magnetic resonance compatible stepper; LOMS, lower-extremity motion simulator; LCD, liquid crystal display