Robotic lower limb exoskeletons are wearable devices designed to augment human motor functions and enhance physical capabilities mostly adopted in healthcare and rehabilitation. The field is strongly dominated by rigid exoskeletons driven by electromagnetic actuators constituted by electrical motors, gearboxes, and cylinders. This review focuses on the design and specifications of the actuation systems of lower limb exoskeletons, with the ultimate goal of providing reporting guidelines to allow for full reproducibility. For each paper, we assessed the quality and completeness of technical characteristics with two ad hoc rating scales for motors and reducers; we extracted the main parameters of the actuation unit and a quantitative analysis of the mechanical characteristics of the individual components was carried out considering the exoskeleton application. Overall, we observed a lack of details in reporting on actuation systems equipped on exoskeletons. To overcome this limitation, herein we conclude by proposing a data form and a checklist to provide researchers with a common approach in reporting the mechanical characteristics of the actuation unit of their lower limb exoskeletons. We believe that the convergence of exoskeletons’ literature toward a clearer standardization of design and reporting will boost the development of this technology and its diffusion outside the laboratory.

Reducers are extensively used in many machines for reducing the speeds of mechanism. This paper proposed a new design of speed reducers to meet the performance requirements in high rigidness and large speed-reduction ratios. The movements of the reducer are designed based on the principles of differential displacements of the deceleration gear rings. The geometric models of the related components were designed using CAD software. The motions of mechanism were simulated for identifying the feasibility of designing including acquiring the kinematic properties. The mathematical models of structural stresses analysis were proposed so that the bending and contact stresses of the gear rings could be evaluated, accordingly. Finite element methods (FEM) were also used to analyze the structural stresses of the reducer. The studied results showed that the bending fracture of the gear rings would prior to its contacting fracture. The allowable loading of the reducer was then established according to the analyzed results of the maximum stresses on various transmitted torques. The methods of reliability evaluation were reported for considering the strength variation and calculating the reliabilities of the reducer at various loadings. The studied results are useful in structural design, stress analysis and reliability evaluation for developing high speed-reduction mechanisms.