Active Exoskeletons

Definitional Boundaries & Taxonomy | Дефиниционни граници и таксономия

[EN] Active exoskeletons, operating at the zenith of biomechatronics, are highly integrated cyber-physical systems worn by an operator to augment, assist, or restore biomechanical performance. Unlike passive orthoses, which rely solely on non-powered compliant elements (springs, dampers, elastomers) to store and release kinetic energy throughout a movement cycle, active exoskeletons incorporate powered actuation modules: typically electric, pneumatic, or hydraulic: coupled with real-time sensory control architectures. These systems actively inject energy into the human-machine kinematic chain. The fundamental taxonomy of these devices is delineated by their anatomical topology and application domain. Lower-limb exoskeletons focus on gait rehabilitation, metabolic cost reduction during locomotion, and load-bearing assistance. Upper-limb exoskeletons are primarily targeted at reducing shoulder and arm fatigue during sustained overhead industrial tasks or restoring dexterity in neuro-rehabilitation. Full-body architectures are reserved for heavy logistics, structural assembly, or military infantry augmentation. Furthermore, a critical structural distinction exists between rigid exoskeletons, which employ anthropomorphic kinematic linkages parallel to the human skeleton, and soft exosuits, which utilize flexible textiles and Bowden cable transmission to apply assistive tensile forces directly over the musculoskeletal framework, thereby bypassing rigid mechanical joints entirely and reducing distal mass.