The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review
by
, , , , , ,
Cristina Floriana Pană
,
Virginia Maria Rădulescu
*
,
Daniela Maria Pătrașcu-Pană
,
Florina Luminița Petcu (Besnea)
*,
Ionuț Cristian Reșceanu
,
Ștefan Irinel Cismaru
,
Andrei Trășculescu
and
Nicu Bîzdoacă
Faculty of Automation, Computers and Electronics, University of Craiova, Blvd. Decebal nr. 107, RO-200440 Craiova, Romania
*
Authors to whom correspondence should be addressed.
Appl. Sci. 2022, 12(11), 5393; https://doi.org/10.3390/app12115393
Submission received: 5 April 2022
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Revised: 20 May 2022
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Accepted: 23 May 2022
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Published: 26 May 2022
(This article belongs to the Special Issue Exoskeleton Robotic Systems)
Abstract
:In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been proposed in the patent literature and some are even commercially available. Given the above, we are asking ourselves at the end of the COVID-19 pandemic: how much has this pandemic affected both the publication of patents and the application of new ones? How has new patents’ publication volume or application in robotic exoskeleton systems changed? We hypothesize that this pandemic has caused a reduction in the volume of new applications and possibly publications. We compare pandemic analysis and the last decade’s analysis to answer these questions. In this study, we used a set of statistical tests to see if there were any statistically significant changes. Our results show that the pandemic had at least one effect on applying for new patents based on the information analyzed from the three databases examined.
1. Introduction
According to the literature, exoskeleton systems can be classified into two broad categories: medical and non-medical systems, depending on the field of applicability. Medical ones include the exoskeleton systems used for rehabilitation, compensation, paraplegics, and amputees. In contrast, the type of non-medical ones consists of those used in the army (help soldiers transport heavy equipment on rough roads, improving mobility), rescue operations (rescuers can use it to transport supplies or firefighters can use it to transport firefighting equipment), construction (workers can use it to transport construction materials), and support (for healthy older adults). Although the study of the exoskeleton of the lower limbs came from the military, in recent years, the medical field has become a priority. In the following, we will focus on the systems of the exoskeletons of the lower limbs mainly, and only the patents of the exoskeletons that treat the whole leg or certain parts of the lower limb are considered. Exoskeletal patents involving the upper body, although vital in themselves, do not significantly contribute to mobility and are therefore omitted from this study.
The oldest exoskeleton patent was probably registered by Nicholas Yagn from Russia in 1890 [1] under the name “Apparatus for facilitating walking, running and jumping” (Figure 1a). As it stands in the original request, this patent aims to increase the efficiency of walking, running, and jumping, thus reducing the inherent fatigue that arises as a result of these actions. Such a “device”, which acts parallel with the human body to aid human locomotion, is now called the exoskeleton and can be considered a starting point for modern exoskeleton systems [2,3].
Exoskeleton lower-limb rehabilitation robots constitute a significant class of robotic rehabilitation systems. Rehabilitation of the lower limbs with the help of robotic exoskeletons appeared over 40 years ago as an alternative to conventional manual gait training [4,5]. These exoskeletal systems connect to the human body in a portable way. Compared to traditional therapy, walking rehabilitation using a robotic exoskeletal system can provide highly controlled training (being able to control the movement of all joints in the training and recovery process), repetitive and intensive [6], and can reduce the physical load on the therapist and provide accurate and fast progress of patients [7,8]. Among the latest patents applied for and published in 2021 (according to the Google Patents platform), it is registered in South Korea. It is entitled “Lower extremity exoskeleton robotic device” (Figure 1b). The patent application states that the present invention relates to a robot device with a lower exoskeleton used for rehabilitation exercises. The exoskeleton robotic system is a device mainly used for rehabilitation by supporting the muscular strength of the wearer when the lower extremities are paralyzed by accident or when the muscular strength of the lower extremities is insufficient due to old age. This device can also be used for industrial or military purposes, such as running [9].
Figure 1.
(a) US420179—Apparatus for facilitating walking, running and jumping (see the reference [1]); (b) KR102292983B1—Lower extremity exoskeleton robotic device (see the reference [9]).
Several revisions have emerged over the last decade that address various aspects of lower extremity rehabilitation and support devices. For example, in 2013, Chen et al. [4] focused on robotic lower extremity care exoskeletons used in rehabilitation therapy. In 2015, Yan et al. [10] presented a comprehensive analysis of all lower-limb exoskeletons developed after the 1990s; all devices analyzed were classified based on four criteria: mechanical structure, robot control system, user validation, and sensory devices used. Moreover, in 2015, Meng et al. [11] analyzed the recent evolution of control mechanisms and strategies for robotic lower-limb rehabilitation devices. Then, in 2016, Rupal et al. [12] conducted a review of exoskeleton robots’ construction and technological features for existing lower extremities, classifying them based on amplifying and rehabilitating human power into commercial or prototype versions. Moreover, in 2016, Chen et al. [13] described the evolution of the exoskeletons of the lower limbs in terms of their structure, the control algorithms used, the detection technology to determine the wearer’s intention to move, and the detection technology, the remaining challenges in this area. The walking rehabilitation exoskeletons presented in this review were classified as treadmill and ground training/assistance exoskeletons. Then, Shi et al. [14] published a comprehensive study in 2019 summarising the current state of exoskeleton robots for lower limbs, focusing on human gait analysis and the design of the drive system and control of these devices. Moreover, in 2019, Sanchez-Villamañan et al. [15] analyzed 52 wearable exoskeletons of the lower limbs in their review, focusing on three main aspects of compliance: drive, structure, and interface attachment components. The authors highlighted the disadvantages and advantages of different solutions and suggested several promising lines of research. In 2021, Koch and Font-Llagunes [16] conducted a review in which the primary purpose was to provide a comprehensive overview of the technological status of exosuits and the clinical results obtained when applied to users with reduced mobility based on 19 studies identified by the authors as relevant. Finally, in March 2022, Kian et al. [17] published a study that provides a comprehensive review of how portable sensor technology has contributed to the activation and control of motorized ankle exoskeletons developed over the past two decades. The authors also investigated the control schemes and operating principles used in the revised motorised ankle exoskeletons and their interaction with the integrated sensor systems. Other reviews have focused on reviewing the technological aspects of exoskeletons from a general perspective [2], while others have concentrated on bipedal locomotion [18,19] or designing specific joints [20]. This review provides an overview of robotic lower-limb exoskeletal systems for rehabilitation that are intended primarily for use by people with gait disorders.
Compared to other studies, we set out to analyze the effect of the COVID-19 pandemic on the publication and application of new patents. According to the World Health Organization, the year 2020 began with the extremely rapid spread of the COVID-19 pandemic and, by 2022, has already reached multiple peaks. This pandemic has affected almost every aspect of life, from industry, economics, and tourism to politics, arts, sports, and in particular health, and yet there has been a global union and effort, especially from the scientific research community, to find ways to deal with it. As such, the patterns of innovative research have also been severely affected by this crisis. Therefore, this systematic review was conducted to answer the following questions: (1) how much has this pandemic affected the publication of patents and the application of new ones? (2) how has new patents’ publication volume or application in robotic exoskeleton systems changed? According to our literature analysis, scientometric analysis has not been performed on research involving robotic exoskeleton patents for lower limbs. Thus, our study is the first evaluation analysis of this field of research using this method. We aim to provide an objective picture of the development of science and the productivity of researchers, as well as to evaluate the topicality of this field of research on the following aspects: (1) a historical map of the subject; (2) a ranking of countries in terms of patent application/publication; (3) the distribution between exoskeletons dealing with the whole of the respective lower system, which deals in part with segments; (4) the time elapsed between the filing and publication of the patent; (5) type of exoskeleton structure: rigid or suit, and mode of wearing: portable or non-portable; (6) patents applied/published during the COVID-19 pandemic. We hope that this study could provide a guide for researchers when they want to file a new patent on robotic exoskeleton rehabilitation for lower limbs, and, at the same time, encourage them in the sense that whenever a situation arises—a crisis (even worldwide) or any impediment of any kind—solutions will be found to help continue their research work. Although work information (patents) collected from public platforms are known and can be accessed by the general public, this paper seeks to generate debate focused on improving current systems and also on how to cover the shortcomings of other identifiable solutions.
2. Review Methodology
2.1. Search Strategy
2.1.1. Inclusion Criteria
All patterns must be:
- Filter 1: published in or translated to English and directly related to rehabilitation of lower-limb exoskeletons robot systems.
- Filter 2: related to the International Patent Classification (IPC) A61H3/00—appliances for aiding patients or disabled persons to walk about; A61F 5/0102—orthopedic devices for correcting deformities of, or supporting, limbs; A61F 5/0106—for the knees, A61F 5/0111—for the feet or ankles.
- Filter 3: describing the design, manufacturing method, and control of an exoskeleton.
- Filter 4: able to be registered in any patent office in any country.
- Filter 5: granted.
- Filter 6: in the COVID-19 pandemic period 12 March 2020–12 March 2022.
2.1.2. Exclusion Criteria
All patterns must not be:
- Filter 7: patent application or limited patent.
- Filter 8: inactive, discontinued or pending legal status.
- Filter 9: related to upper rehabilitation limb (hand or arm) exoskeletons robot systems.
- Filter 10: published in a non-English language and those whose translations to English were very inadequate.
- Filter 11: with an application date before 2012.
2.1.3. Information Databases and Search Methodology
We considered that portable exoskeletons are all those that have a rigid external structure, but also soft exoskeletons or exosuits were included in the present study. Exoskeletons that have used bodyweight support or a treadmill have been excluded to focus only on patents with the effect of wearable technology.
We searched for pattern publications in three online databases: Google Patents, PatentScope, and Lens, from 1 March 2012 until 31 March 2022, using the following search terms: (exoskeleton) AND (robot) AND (walk OR gait) AND ((leg OR lower) AND (limb OR extremity)) AND (rehabilitation).
With the above keywords and filters: 1, 2, 4, and 9, we initially retrieved 1021 patents on Google Patents, 128 patents on PatentScope and 161 patents on Lens. After applying filters 5, 7, and 8, we get the following: 281 patents on Google Patents, 128 patents on PatentScope, and 74 patents on Lens.
An example of the application of the search methodology presented above can be seen in Figure 2 for the Lens platform. Initially, we obtained 161 patents that fulfilled the respective filters: of which 84 appear as patent applications, and the remaining 77 are published patents. Moreover, out of the 161 patents, 120 complied with the requirement of filter 8. After applying filters 5 and 7, we obtained a number of 74 patents. Further, using filters 6 and 12, we get 74 patents. The numerical distribution of these patents by year of publication and by inventors can be seen in Figure 2.
2.2. Data Collection
The data obtained from the queries of the three patent platforms are presented in the tables in Appendix A (Table A1, Table A2 and Table A3). Moreover, in the tables in Appendix A, a classification of the exoskeletons was made according to the area of the lower limb that treats it (in whole or part), the type of rigid or suit structure and the portability mode: portable, portable with wheels (which also contain a set of auxiliary wheels for locomotion) and non-portable (which are fixed and can only be used in the spaces where they were placed).
2.3. Analysis Method
We used both a short-term analysis technique, focusing on the pandemic period 13 March 2020–13 March 2022, and an analysis technique in the longer term by which we compared the publication patterns of the last decade (2012–2022). Our study used a set of statistical tests to find statistically significant changes. These tests were performed both short-term and longitudinally on each of the three platforms, Google Patents, PatentScope, and Lens. At the short-term level, these tests indicate whether there are statistically significant differences when comparing the number of patents applied with those published. At the longitudinal level, these tests show whether there are statistically significant differences when comparing patents published before the pandemic with those published during the pandemic.
3. Results
To answer the two questions that were the main objectives (Section 1), we used the method of analysis presented in Section 2.3. Following these tests, we obtained the following results presented in the subsections below.
3.1. Google Patents Platform
In the first analysis of the data collected, one can see a particular concern for the development of exoskeletons of Asian researchers. We studied the applications for granting patents worldwide aimed at exoskeletons. We observed that out of 281 published patents (for the period 2012–2022), researchers from Asia applied for a percentage of 70% of them. We can see these data in Table 1 and Figure 3, respectively.
The distribution of these requests, divided by country, reveals, and reinforces the fact that there is a concern in finding the best and most refined solutions to the problems that exoskeletons can solve. Furthermore, Chinese researchers are very active, and an extraordinary number of applications support this. Our statements are reinforced by the data in Table 2 and the graphs in Figure 3.
Once we have established the areas of interest, we can move on to data analysis. An important aspect is the date on which the patent applications were filed. The period analyzed in this study is from the year beginning 2005. It seems a timid beginning for what this field can offer today. Still, the researchers of a US team started with gait rehabilitation methods and apparatuses, the essential operation for the development of new techniques and technologies. It was a timid start because the patent was validated after nine years. From Table 3, it can be easily seen that when new roads are opened, a period of adaptation and understanding of the proposed new techniques and technologies is needed. From here, a series of waiting for the results appears. From our study, the period in which nothing was published is quite long (applications submitted in the period 2005–2011 began to be approved only in 2012), strengthening the abovementioned beliefs.
What we found earlier entitles us to refine our study further, and we will take for analysis the last decade, i.e., the period 2012–2022. In 2012, there were more patent applications in North America and Asia.
We now consider only patent applications. At the beginning of the analyzed period, a typical trajectory of things can be observed in Table 3. We can say that the ascending trend was set in terms of research in exoskeletons and filing patent applications. However, we see that starting in 2020, the presence of the pandemic is starting to make itself felt. For example, if in 2018, 51 applications were submitted, and in 2019 they decreased to 34 (i.e., the applications decreased by more than 30%), then in 2020 and 2021 they were likely to be drastically reduced. One of the ideas that emerges from the analysis of the above data would be the one that affected entire areas during the pandemic, namely the limitation of the interaction between the members of the research teams.
The analyzed phenomenon has two components (the patent filing component and the one for their approval); the second one must be investigated. If we examine the above, we can conclude that the pandemic was a disaster on all levels, but there is still a positive aspect. Analyzing Table 3 and the data collected on granting patents, we can observe an increasing trend even during the pandemic. We can say that we tried to help put into practice as many scientific ideas as possible used by all humanity during this period.
Another interesting issue is the problem that these exoskeletons deal with of exoskeletons. Here are two approaches:
- − Treatment of the entire lower system
- − Partial treatment of the lower system (its different subsystems).
During the analysis period (2012–2022), out of the 264 patents applied in the Google Patents platform, 82% treated the entire lower system, and another part focused on different subsystems. This aspect can also be seen in Figure 4.
Another aspect can be observed by analyzing Table 4 and Table 5, namely that the pandemic, in a way, prevented the development of things. Until 2018, we follow an increasing trend in the analysis and implementation of complete exoskeletons and the performance and improvement of research in subsystems. From 2019 we can see, unfortunately, a downward trend. This trend is seen to have affected subsystem research more strongly. From the analyzed patents, the research teams focused on updating entire exoskeleton structures to help patients move in conditions where they could no longer move to specialized centers.
Regarding publishing patents, we can say that an increasing trend is observed, as shown in Table 4. The data analysis makes us say that this trend was ensured by the conditions imposed by the appearance of the COVID-19 pandemic.
Furthermore, we will resume a previously mentioned aspect, namely that the research, during the pandemic, was directed towards ensuring the movement of patients and, therefore, this research was focused on the entire lower system and not only on its subsystems. It is also easy to see that more patents deal with the total lower exoskeleton than those dealing with the exoskeleton that treats the same leg parts.
The subject of interest is the time interval between the date of application of a patent and the date of its publication. The patents analyzed by us in this platform reveal a fascinating fact. During the pandemic, the time elapsed between the moment of application for a patent and the date when it was published was reduced. Therefore, we can say that more attention has been paid to these patents to implement the obtained results faster.
Further, in Figure 5, you can see the numerical distribution of patent types based on the year of publication. Figure 5 shows two peaks of a substantial increase in the number of patents published on PExoRP in 2018 (32 patents) and 2020 (48 patents). The number of patents published on PExoRNP follows a growth curve with the maximum growth peak in 2021 (12 patents). Patents published on PExoPR have gained more interest since 2019. There has also been an interest in PEoxS since 2013 (one patent) continuing to grow timidly in 2021 (three patents). We can say that patents published on PEoxRP, compared to other types, predominate throughout the period.
3.2. PatentScope Platform
As we did in the previous case, we analyzed the number of applications and the number of patent publications on this platform. The distribution by region according to the year of application of the patent after the use of the filters 5 and 7 can be seen in Figure 6. The highest percentage of patent applications is registered in South America.
As can be seen from Table 6, the period in which we find information is longer. It includes requests since the early 2000s. As in the case of the analysis in the previous subsection, due to the minimal number of applications/publications, we can conclude that the valuable research period can be considered as starting with the year 2012. Hence, in this case, the data distribution confirms that the period in which we did the analysis is correct and fair.
Going further with the data analysis, for the period considered in our study to be the reference period, we find some ideas previously stated in Section 3.1. In Figure 7, we can see the direction of declining patent applications as the pandemic begins. In terms of patent approval, an upward trend can be seen. Following these findings, we maintain the idea stated at the beginning of the study, namely that the pandemic negatively affected the research teams and their results. However, we can also say that the publishing process has shown an upward trend.
From 2012 to 2022, 74% treated the total lower system, and 26% focused on different subsystems of the lower limb. This aspect can also be seen in Figure 8.
Next, for a more in-depth study, we looked at the problem that these exoskeletons treat. We found that most research that debates and applies issues of the entire lower patient system has been preserved, as shown in Figure 9 and Figure 10.
As we did in the case of the analysis of the Google Patents Platform, we also determined for this platform the time intervals between the date of filing the patent and the date of its publication. The results obtained can be seen in Table 7 It is also observed that during the COVID-19 pandemic, the maximum interval decreased.
Figure 11 shows the following: a fluctuation in the number of patents published on PExoRP, in the sense that their number increased significantly in 2016, decreased in 2017, increased in 2018, and then fell and increased again in 2021. As for the number of patents published on PExoRNP, it seems to keep the same trend of increase and decrease every 2 years (+/− 1) until 2018, and then there will be a more considerable difference in the period 2019–2020 (+3), and 2021–2022 (−2). Patents published on PExoPR gain interest only in 2019 and then decrease. There is also an interest in PEoxS since 2015, continuing with growth peaks in 2019 and 2021. Overall, we can say that patents published on PEoxRP predominate throughout the period compared to other types.
3.3. Lens Platform
Our analysis on this platform is presented in Section 2.1.3 and presented in Figure 12. However, due to the small number of patents obtained because of the consequences of filter use, we consider it unnecessary to detail further. Here, it should be mentioned that no patents have been found on this platform with the application date being 2020–2022 and complying with the filtering criteria considered.
According to Figure 12, most published patents dealt with the total foot.
In Figure 13, you can see the numerical distribution of patent types based on the year of publication. For example, according to Figure 13, there is a decrease in published patents. Their distribution by structure and applicability is as follows: in 2020, eight PExoRP, two PExoRP and one PExoS; in 2021, five PExoRP and one PExoRP, and in 2022 it is completely absent.
4. Discussion
Lower-limb exoskeletal robotic systems integrate advanced mechanical structures, materials, electronics, bionics, control, and even artificial intelligence. In the last decade, the progress in their development has been remarkable. Significant improvements have been made in performance and design. This thing is also clear from the reviews that have been written on this topic. Over time, several studies have looked at the exoskeletons of the lower limbs for rehabilitation. Some of these reviews have focused on reviewing general aspects of exoskeleton technology [2,20,21,22,23]; others have focused on more specific issues, such as control strategies [19,24] or joint design [25]. In [20], Meda-Gutiérrez and the team aim to identify state of the art medical device designs, based on an analysis of patents and literature. Although they encountered some difficulties in processing records due to a lack of filters and standardization of names (discrepancies appearing between search engines), the conclusion obtained from the study reflects a tendency to use the mechanical design of exoskeletons based on rigid structures, joints, and elements that provide strength for the movement of the system.
Based on our research in the literature at the time of this study, there have been no reviews of the COVID-19 pandemic patent study results. The only review [26] found in the literature studied the influence of the COVID-19 pandemic on publishing research articles. In this paper, Aviv-Reuven and Rosenfeld analyzed changes in biomedical publication patterns due to the pandemic.
4.1. The Context of the Main Objective Analysis
The COVID-19 pandemic posed an unprecedented challenge to humanity and science. As a result of the new outbreaks of Coronavirus, a state of emergency was declared in almost all countries on 13 March 2020. At the same time, all national institutions closed their activities with the public, with employees being forced to work from home through video conferencing, telephone, or online platforms. This has also happened with national and international patent or trademark registration offices. Moreover, starting on 13 March, these offices announced some different forms of exemption available to patent and trademark applicants. These exemption forms can be divided into two broad categories: term extensions and tax exemptions. For example, in the US, extensions were not granted automatically but were conditional on the actual existence of the COVID-19 outbreak. In addition, for an extension to be valid, the party requesting the exemption had to submit a statement that the delay in filing or payment was due to the COVID-19 outbreak. The applicant also had to be a micro or small institution that was in the process of processing or paying pre-examination maintenance fees.
4.2. General Discussion on the Results of the Analysis of the Patent Platforms
A pertinent observation, we would say, would be that the pre-pandemic period was a perfect time for researchers/research teams. They have been able to develop different relationships and have been able to carry out their activity without limitations. Therefore, the results obtained have led to many patent applications. However, this large volume of applications probably hindered the approval process and hence the time differences between the application and approval periods (a statement from our study). With the onset of the COVID-19 pandemic, research teams have been limited in their interactions physically (at least) and hence there have been fewer patent applications. However, this was a “plus” (if we can say so) for the patent application evaluation teams having, on the one hand, a small number of applications to analyze and sufficiently thorough time. Another aspect that we noticed was that during the pandemic, the difference between the date of the filing of the patent application and its publication decreased a lot. Despite introducing tax exemptions, the number of patents granted is not high due to the introduction of term extensions for regions with a COVID-19 outbreak.
If we analyze the data in Table 7 versus the data in Table 6 that deal with the same issue, we can see the effects of processing a large volume of data. The publication period on the PatentScope platform is significantly shorter in most cases; this may be due to prioritizing patent applications.
Another predominant general idea that emerged from the analysis of the mentioned platforms is that the number of patents published during the entire analyzed period (as well as during the pandemic) on rigid and portable structured exoskeletons is much higher than the rest of the types. This fact is essential and beneficial in gaining the independence of users from hospital spaces in particular and the physical presence of specialists specialized in recovery, especially during the pandemic.
Another interesting aspect that emerges from the Google Patents platform is that although the COVID-19 pandemic had as its starting point in China, the most patent applications have been filed in this country. On the other hand, according to data extracted from the PatentScope platform, the country with the most patent applications during the pandemic was the US. According to Lens platform, no patent application has been filed during this period.
Over the last decade, research on real-life exoskeletons has grown significantly; this can be estimated from the number of patents reported in Section 3. The main reason would be that the lifestyle of modern society is constantly growing and developing rapidly, and people always want to stay active, independent, and live a quality life. Portable exoskeleton technology (whether rigid or suitable) is the key to providing individualized mobility recovery solutions for millions of people immobilized from various causes (injuries, trauma, disabilities, or ageing) to continue their desired activities. Despite the above, the technology is in its infancy. There are still factors that are not/are less addressed about obtaining a fully efficient exoskeleton, in terms of performance and cost.
To see the chronological evolution of the development of this technology, we arbitrarily analyzed some of the patents on the PatentScope platform, selecting the patents published at the beginning, middle, and end of the analyzed period.
The first patents published since 2013, as presented, are designed to reinforce joints. After that, the patents designed for this specific domain gradually became more complex and complementary. From this point forward, several improvements regarding gait rehabilitation have been made, focusing on enhancing previous studies and patents. For example, suppose the first patent focused on knee joint reinforcement. In that case, the following patent is designed to adjust pelvic movement with the same objective: gait training to help people have a more natural walk movement.
The first patent focuses on knee joint reinforcement, followed by concepts designed to adjust pelvic movement with the same objective: gait training to help people have a more natural walk movement.
The Active Knee Rehabilitation Orthotic System (ANdROS) [27] is intended to assist everyday tasks rather than gait retraining. The invention describes wearable and portable assistive equipment for gait neuro-rehabilitation that addresses primary gait abnormalities by reinforcing around the knee joint a preferred gait pattern via correcting torque fields applied. The patent is a wearable assistive device for gait rehabilitation in patients who have lost motor control due to a neurological condition, such as a stroke.
A motorized footplate with force feedback and an exoskeleton to regulate pelvic movement during gait training [28] makes this innovation perfect for implementing ecologically sound procedures that accurately simulate real-life settings and maximize motor improvements in stroke patients. In addition, to optimize rehabilitation effects, an active pelvic prosthesis with a non-treadmill pedal system is necessary.
The following published patents were born from ideas intended to improve mobility further. Therefore, exosuit-based systems with actuators were developed to provide active support for the ankle. Fixed in three points on the leg and created from a lightweight material, it shows comfort for the user and improves torque.
This patent [29] discusses three-point contact with the leg and a series of elastic elements for improved torque control. Apart from their small size (0.88 kg), these devices can monitor joint angle and torque. A combination of proportional feedback and suspension injection is employed during walking trials to modulate torque. The closed-loop torque control of the exoskeleton devices was evaluated by controlling 50 N-m and 20 N-m linear chirps in intended torque while using exoskeletons and measuring bandwidths more significant than 16 Hz and 21 Hz, respectively. There was a maximum torque of 120 N-m and a tracking error of 2.0 N-m. These testbeds demonstrate how exoskeletons may be employed to study a variety of control and support paradigms rapidly. The document provides an exoskeleton system that comprises a cable, a lever attached to the cable, a frame having a strut directing the cable to the lever, and a motor coupled to the cable and adapted to cause the cable to deliver torque around the rotating joint.
In addition to previous innovations, it was considered the proper time to introduce smart materials that will block or even actuate joints to expand the possibilities of implementation for wearable robotic devices. However, smart material-based exoskeleton publications are found in a minimal number and provide a substantial implementation complexity; therefore, such a type of patent is to be considered.
The work [30] aims to offer an exoskeletal device with semi-active joints that can lower articular tensions caused by limb weight, reduce physical labor load, and promote physical workouts for motor ability rehabilitation following cerebral or orthopedic accidents. In addition, other objectives are realized via a mechanism, namely, an exoskeleton with at minimum two links joined by an electro- or magneto-rheological fluid joint.
Further improvements of the exoskeletons are being developed concerning the user’s biological skeleton and flexible materials to deliver improved customized mobility according to the user’s needs.
With a soft exosuit system and an actuator system, the concept [31] provides active support for natural actions, such as normal leg movement. The soft exosuit uses flexible materials and actuators and depends on the user’s biological skeleton to aid in applying forces and transferring loads, unlike previous art-rigid exoskeletons.
It has lower mechanical impedance and kinematic constraints than rigid exoskeletons and does not considerably limit or restrict the user’s flexibility. Furthermore, by adding regulated energy impulses rather than the direct command of limb position(s), this system can help improve locomotion and minimize the metabolic cost of movement without limiting mobility.
Other powered devices and control methods [32] can greatly aid ambulation, especially in youngsters with cerebral palsy (CP). Less complex knee extension help was tested in the stance and late swing phase. Compared to the baseline condition, the tested gadget reduced crouching. Moreover, it considerably changed lower extremity kinematics, increasing maximal knee extension in both the left and right legs during the stance phase.
4.3. Limitations of This Study
The main limitation of this study is that these platforms do not declare patent applications unless they have been approved and published. Thus, for the period of the COVID-19 pandemic, the analysis of the number of patent applications was performed only on the data extracted from these platforms. However, the primary purpose of this review was to provide a comprehensive overview of the effort to innovate the lower-limb exoskeletons even during this pandemic.
5. Conclusions
This study looked at how the COVID-19 pandemic affected the publication and application of new patents based on data extracted from three platforms: Google Patents, PatentScope and Lens. We used two types of analysis to address our research questions: short-term analysis (pandemic period 2020–2022) and longer-term analysis (2012–2022). Following the analysis made, the hypothesis issued by us at the beginning of the study that the pandemic has caused a reduction in the volume of new applications and, possibly, the publications, is valid. However, only on the data extracted from these platforms did the number of new patent applications drop dramatically. The number of published patents has been much higher than the number of applications. Therefore, we can say that the COVID-19 pandemic has negatively affected the number of applications for new patents in the field of exoskeletal robotic systems of the lower limbs and in a positive sense (at least kept the trend of recent years) affected the number of patents published (granted).
The main challenge of the paper was to conduct an in-depth analysis of the systems and current patents to summarize their need for development in terms of the benefits of exoskeletal rehabilitation technology. In addition, through its scientometric analysis of patents, this paper wanted to be state of the art and offer/act as a reference point for scientists and researchers. Who wants to develop systems to meet the needs of millions of people with locomotor problems?
In the future, we want to carry out new analysis in which we will use delimiters related to the materials of the components and the actuation and control systems of the exoskeleton robots. Moreover, following the research conducted in the literature, there is a need to perform a qualitative comparative study on the ease of using these robotic exoskeleton systems by patients. The lack of such a study could lead to some biases, especially related to the clinical efficacy of lower-limb exoskeletons for rehabilitation.
Another interesting study that we would like to do is analysis, such as the one made in this review, but post-pandemic.
Author Contributions
Conceptualization, C.F.P., V.M.R. and D.M.P.-P.; methodology, C.F.P. and V.M.R.; validation, C.F.P., F.L.P. and D.M.P.-P.; formal analysis, C.F.P. and V.M.R.; investigation, C.F.P., F.L.P., D.M.P.-P. and I.C.R.; resources, F.L.P., Ș.I.C. and A.T.; data curation, F.L.P., I.C.R., Ș.I.C. and A.T.; writing—original draft preparation, C.F.P., V.M.R. and F.L.P.; writing—review and editing, C.F.P., V.M.R. and F.L.P.; supervision, C.F.P. and N.B.; project administration, C.F.P. and V.M.R.; funding acquisition, N.B. All authors have read and agreed to the published version of the manuscript.
Funding
This research was funded by European Social Fund within the Sectorial Operational Program Human Capital 2014–2020, grant number POCU380/6/13/123990, National Council for the Financing of Higher Education, grant number CNFIS-FDI-2022-0468 and POC-Competitiveness Operational Program.
Institutional Review Board Statement
Not applicable, because this review did not involve humans or animals.
Informed Consent Statement
Not applicable, because this review did not involve humans or animals.
Data Availability Statement
Not applicable.
Acknowledgments
This work was supported by the grant POCU380/6/13/123990, “Entrepreneurial University—higher education and training system for the Romanian labor market by awarding scholarships for doctoral students and postdoctoral researchers and implementing innovative entrepreneurship training programs”, co-financed by the European Social Fund within the Sectorial Operational Program Human Capital 2014–2020 and grant “Increasing the quality of the educational act by modernizing the research infrastructure of the University of Craiova”, cod CNFIS-FDI-2022-0468 and HUB-UCv-Support Center for International RD Projects for the Oltenia region-cod SMIS 107885.
Conflicts of Interest
The authors declare no conflict of interest.
Abbreviations
The following abbreviations used by us in this manuscript are:
| PExo_t | Patent of the total (treats the whole leg) exoskeleton robot system of the lower limb |
| PExo_p | Patent of the partial (treats a specific part of the foot) exoskeleton robot system of the lower limb |
| PExoRP | Patent involving exoskeleton with rigid structure and is portable |
| PExoRPW | Patent involving rigid structure exoskeleton, is portable and has a pair/pairs of auxiliary wheels |
| PExoRNP | Patent involving exoskeleton with rigid structure and is non-portable |
| PexoS | Patent involving exoskeleton suit |
Appendix A
Table A1.
Google Patents platform.
| Cite | Country Code | Title | Type of Treatment | Type of Structure | Application Date | Publication Date |
|---|---|---|---|---|---|---|
| [33] | US | Gait device with a crutch | PExo_t | Rigid portable | 17 January 2013 | 27 November 2018 |
| [34] | US | Patient aid devices, particularly for mobile upper extremity support in railed devices such as parallel bars and treadmills | PExo_t | Rigid portable | 23 October 2017 | 14 April 2020 |
| [35] | US | Recognition method of human walking speed intention from surface electromyogram signals of plantar flexor and walking speed control method of a lower-limb exoskeleton robot | PExo_t | Rigid non-portable | 20 January 2016 | 08 October 2019 |
| [36] | KR | Walk assist apparatus | PExo_t | Rigid portable | 02 April 2012 | 03 March 2014 |
| [37] | KR | Wearable crutch with lap joints | PExo_t | Rigid portable | 20 August 2013 | 23 June 2015 |
| [38] | US | Interactive exoskeleton robotic knee system | PExo_p | Rigid portable | 21 June 2015 | 27 August 2019 |
| [39] | KR | Active type step assistance apparatus | PExo_t | Rigid portable | 09 July2013 | 12 December 2014 |
| [40] | US | Low-profile exoskeleton | PExo_t | Rigid portable | 05 November 2015 | 18 February 2020 |
| [41] | US | Multi-function lower-limb ambulation rehabilitation and walking assist device | PExo_t | Rigid non-portable | 29 September 2016 | 17 October 2017 |
| [42] | CN | For aiding in the soft machine armor of human motion | PExo_t | Rigid portable | 30 May 2014 | 04 May 2018 |
| [43] | CN | Soft exterior protector for aiding in human motion | PExo_t | Suit | 17 September 2013 | 09 June 2017 |
| [44] | KR | Gait assistant robot | PExo_t | Rigid portable with wheels | 08 November 2013 | 13 September 2016 |
| [45] | KR | Robot for assisting user to walk | PExo_t | Rigid portable with wheels | 10 May 2017 | 20 May 2019 |
| [46] | ES | System to assist walk | PExo_t | Rigid portable | 19 November 2015 | 06 April 2018 |
| [47] | KR | Robot for assisting user to walk with lower body exoskeleton | PExo_t | Rigid portable with wheels | 25 March 2016 | 21 June 2018 |
| [48] | CN | Rehabilitation type lower-limb exoskeleton | PExo_t | Rigid portable | 07 August 2018 | 13 March 2020 |
| [49] | US | Exoskeleton ankle robot | PExo_p | Rigid portable | 21 June 2015 | 01 October 2019 |
| [50] | US | Mobility system including an exoskeleton assembly releasably supported on a wheeled base | PExo_t | Rigid portable with wheels | 01 November 2013 | 26 December 2017 |
| [51] | KR | Rehabilitation robot of legs, boarding and driving method thereof | PExo_t | Rigid portable with wheels | 29 June 2018 | 12 March 2019 |
| [52] | ES | Support structure | PExo_t | Rigid portable with wheels | 18 February 2016 | 08 May 2020 |
| [53] | CN | Wearable lower-limb exoskeleton driven by lasso artificial muscles | PExo_t | Rigid portable | 26 July 2017 | 03 November 2020 |
| [54] | ES | Exoskeleton for human movement assistance | PExo_t | Rigid portable | 27 November 2014 | 06 April 2017 |
| [55] | CN | A kind of lower-limb rehabilitation exoskeleton system and its walking control method | PExo_t | Rigid portable | 15 January 2018 | 09 July 2019 |
| [56] | KR | Wearable apparatus for support holding posture | PExo_t | Rigid portable | 22 April 2016 | 04 September 2017 |
| [57] | US | Pneumatic lower extremity gait rehabilitation training system | PExo_p | Rigid non-portable | 12 September 2016 | 21 May 2019 |
| [58] | US | Systems, methods, and devices for assisting walking for developmentally delayed toddlers | PExo_t | Rigid portable | 05 February 2015 | 07 May 2019 |
| [59] | CN | Variable-rigidity flexible driver for exoskeleton type lower-limb rehabilitation robot | PExo_t | Rigid non-portable | 02 February 2018 | 06 December 2019 |
| [60] | US | Actuation system for a joint | PExo_p | Rigid portable | 13 March 2014 | 22 November 2016 |
| [61] | CN | Lower-limb rehabilitation training exoskeleton system and its walking control method and hip joint structure | PExo_t | Rigid portable | 28 January 2018 | 20 September 2019 |
| [62] | KR | Weight bearing brace | PExo_t | Rigid non-portable | 12 December 2017 | 08 July 2019 |
| [63] | KR | Training system for leg rehabilitation having separated treadmill | PExo_t | Rigid non-portable | 11 October 2011 | 17 June 2013 |
| [64] | CN | Wearable lower-limb exoskeleton rehabilitation robot | PExo_t | Rigid portable | 16 November 2017 | 21 February 2020 |
| [65] | US | Lower extremity exoskeleton for gait retraining | PExo_t | Rigid portable | 28 September 2012 | 01 December 2015 |
| [66] | CN | A kind of bionical lower-limb exoskeleton robot driven based on rope | PExo_t | Rigid portable | 06 March 2017 | 02 August 2019 |
| [67] | CN | Movable parallel flexible cable driven lower-limb rehabilitation robot and implementation method thereof | PExo_t | Rigid portable with wheels | 02 May 2018 | 18 February 2020 |
| [68] | CN | Wearable lower-limb exoskeleton robot | PExo_t | Rigid portable | 31 August 2016 | 14 August 2018 |
| [69] | EP | Robotic device for assistance and rehabilitation of lower limbs | PExo_t | Rigid portable | 07 October2013 | 21 December 2016 |
| [70] | US | Admittance shaping controller for exoskeleton assistance of the lower extremities | PExo_t | Rigid portable | 25 June 2015 | 06 March 2018 |
| [71] | CN | Exoskeleton-type moves walking rehabilitation training device and method | PExo_t | Rigid portable with wheels | 28 December 2015 | 01 February 2019 |
| [72] | CN | Based on rope-pulley mechanism drive lacking lower-limb assistance exoskeleton robot | PExo_t | Rigid non-portable | 03 July2017 | 17 May 2019 |
| [73] | EP | Method for estimating posture of robotic walking aid | PExo_t | Rigid portable | 21 July2016 | 17 March 2021 |
| [74] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_p | Rigid portable | 01 September 2009 | 16 April 2013 |
| [75] | CN | A kind of dedicated power-assisted healing robot of single lower-limb individuals with disabilities | PExo_t | Rigid non-portable | 24 July 2017 | 27 September 2019 |
| [76] | JP | Actuator device, power assist robot and humanoid robot | PExo_t | Rigid portable | 12 September 2014 | 20 April 2016 |
| [77] | KR | Monitoring system of walking balance for lower-limb rehabilitation | PExo_t | Rigid non-portable | 29 December 2017 | 26 August 2019 |
| [78] | US | Powered lower-limb devices and methods of control thereof | PExo_t | Rigid portable | 03 November 2017 | 07 December 2021 |
| [79] | CN | A kind of artificial intelligence motion’s auxiliary equipment | PExo_t | Rigid non-portable | 29October 2015 | 29 March 2017 |
| [80] | JP | Actuator device, humanoid robot and power assist device | PExo_t | Rigid portable | 26 December 2014 | 30 November 2016 |
| [81] | US | Robotic system for simulating a wearable device and method of use | PExo_t | Rigid non-portable | 20 December 2012 | 22 November 2016 |
| [82] | US | Passive swing assist leg exoskeleton | PExo_t | Rigid non-portable | 04 April 2008 | 02 December 2014 |
| [83] | EP | Forward or rearward oriented exoskeleton | PExo_t | Rigid portable | 06 May 2015 | 19 January 2022 |
| [84] | US | Apparatus and system for limb rehabilitation | PExo_t | Rigid portable with wheels | 29 November 2018 | 03 December 2019 |
| [85] | ES | Movement assist device | PExo_t | Rigid portable | 17 June 2013 | 15 July 2020 |
| [86] | CN | Sitting type walking rehabilitation robot | PExo_t | Rigid non-portable | 28 October 2015 | 12 January 2021 |
| [87] | EP | Human movement research, therapeutic, and diagnostic devices, methods, and systems | PExo_t | Rigid non-portable | 21 April 2015 | 03 July 2019 |
| [88] | CN | Hip joint rehabilitation exoskeleton based on multifunctional driver and motion control method thereof | PExo_t | Rigid portable | 16 October 2018 | 23 February 2021 |
| [89] | US | Wearable robot and control method thereof | PExo_t | Rigid portable | 02 December 2014 | 12 February 2019 |
| [90] | US | Wearable robot and method for controlling the same | PExo_t | Rigid portable | 03 September 2014 | 11 February 2020 |
| [91] | CN | A kind of link-type lower-limb exoskeleton rehabilitation robot | PExo_t | Rigid portable | 22 May 2017 | 26 June 2018 |
| [92] | JP | Exoskeleton robot | PExo_t | Rigid portable | 13 April 2018 | 29 July 2020 |
| [93] | CN | Interface for the movement by externally applied force motivation of adjustment orthopedic appliance | PExo_t | Rigid portable | 15 January 2014 | 09 October 2018 |
| [94] | US | Method and apparatus for providing deficit-adjusted adaptive assistance during movement phases of an impaired joint | PExo_p | Rigid portable | 20 November 2014 | 17 April 2018 |
| [95] | CN | Walking aid | PExo_t | Rigid portable | 29 November 2013 | 11 September 2020 |
| [96] | CN | A kind of quasi-passive knee ankle-joint coupling lower-limb exoskeleton and its control method | PExo_p | Rigid portable | 31 March 2017 | 18 June 2019 |
| [97] | CA | Method and apparatus for providing economical, portable deficit-adjusted adaptive assistance during movement phases of an impaired ankle | PExo_p | Rigid portable | 20 June 2016 | 24 March 2020 |
| [98] | EP | Ball screw and tensile member exoskeleton joint actuation device | PExo_t | Rigid portable | 04 May 2017 | 16 February 2022 |
| [99] | KR | Robot for assisting user to walk | PExo_t | Rigid portable with wheels | 12 June 2017 | 12 June 2019 |
| [100] | CN | Reconfigurable ectoskeleton | PExo_t | Rigid portable | 11 December 2013 | 29 September 2017 |
| [101] | US | Gait rehabilitation methods and apparatuses | PExo_t | Rigid non-portable | 04 February 2005 | 18 November 2014 |
| [102] | US | Methods of operating an exoskeleton for gait assistance and rehabilitation | PExo_t | Rigid portable | 30 July 2012 | 17 January 2017 |
| [103] | US | Powered orthosis | PExo_t | Rigid non-portable | 04 April 2008 | 03 April 2012 |
| [104] | KR | A treatment device for hemiplegia | PExo_t | Rigid portable | 25 July 2013 | 10 April 2015 |
| [105] | US | Wearable robotic device | PExo_t | Rigid portable | 21 March 2019 | 12 October 2021 |
| [106] | EP | An exoskeleton and method for controlling a swing leg of the exoskeleton | PExo_t | Rigid portable | 23 July 2009 | 04 September 2019 |
| [107] | KR | Wearing tool for measuring biological signal, and wearing-type motion assisting device | PExo_t | Suit | 10 September 2009 | 24 January 2013 |
| [108] | JP | Wheelchair walking assist robot | PExo_t | Rigid portable with wheels | 09 October 2009 | 29 January 2014 |
| [109] | CN | Reduction exoskeleton joint and exoskeleton power assisting device thereof | PExo_t | Rigid portable | 03 May 2016 | 14 April 2020 |
| [110] | US | Cable driven joint actuator and method | PExo_t | Rigid portable | 15 January 2015 | 21 March 2017 |
| [111] | US | Orthopedic device including protruding members | PExo_p | Rigid portable | 10 April 2015 | 15 December 2020 |
| [112] | CN | A kind of passive exoskeleton device of hip joint based on energy timesharing regulation | PExo_t | Rigid portable | 05 December 2017 | 22 November 2019 |
| [113] | US | Methods of enhancing the rehabilitation or training of an exoskeleton wearer | PExo_t | Rigid portable | 11 November 2015 | 03 March 2020 |
| [114] | KR | Robot for assisting user to walk | PExo_t | Rigid portable with wheels | 10 May 2017 | 20 May 2019 |
| [115] | EP | Leg support device | PExo_t | Rigid portable | 21 June 2010 | 18 February 2015 |
| [116] | US | Systems and methods for assistive exosuit system | PExo_t | Suit | 23 August 2017 | 23 February 2021 |
| [117] | ES | Device and method for reducing a person’s oxygen consumption during a regular walk by using a load-bearing exoskeleton | PExo_t | Suit | 19 May 2009 | 22 October 2015 |
| [118] | CN | Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton | PExo_t | Rigid portable | 19 May 2009 | 18 March 2015 |
| [119] | JP | Walking robot system that regenerates energy | PExo_t | Rigid portable | 27 March 2018 | 01 September 2021 |
| [120] | CN | It is single to drive bionical gait rehabilitation training robot system | PExo_t | Rigid portable | 06 October 2016 | 30 November 2018 |
| [121] | US | Control logic for biomimetic joint actuators | PExo_t | Rigid non-portable | 28 August 2009 | 20 May 2014 |
| [122] | KR | Legged robotic device utilizing modifiable linkage mechanism | PExo_t | Rigid portable | 06 May 2015 | 13 September 2017 |
| [123] | CN | Lower-limb exoskeleton robot system based on man–machine terminal interaction | PExo_t | Rigid portable | 23 October 2018 | 13 October 2020 |
| [124] | US | Systems for neural bridging of the nervous system | PExo_t | Rigid non-portable | 02 June 2016 | 08 December 2020 |
| [125] | CN | Use the lower-limb exoskeleton robot control method of air bag sensor | PExo_t | Rigid portable | 23 February 2016 | 06 April 2018 |
| [126] | CA | Control system and device for patient assist | PExo_t | Rigid non-portable | 28 March 2013 | 09 October 2018 |
| [127] | ES | Semi-motorized exoskeleton of the lower extremities | PExo_t | Rigid portable | 13 April 2006 | 05 September 2014 |
| [128] | CN | Contact displacement actuator system | PExo_t | Rigid non-portable | 17 July 2007 | 28 January 2015 |
| [129] | EP | System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device | PExo_t | Rigid portable | 09 March 2011 | 22 October 2014 |
| [130] | KR | Robot for assisting user to walk | PExo_t | Rigid portable with wheels | 10 May 2017 | 03 December 2021 |
| [131] | CN | Lower-limb rehabilitation walking-aid robot supporting omnidirectional movement and control method | PExo_t | Rigid portable with wheels | 04 March 2016 | 24 March 2020 |
| [132] | US | Apparatus and method for reduced-gravity simulation | PExo_t | Rigid non-portable | 18 June 2009 | 10 April 2012 |
| [133] | ES | Powered orthopedic system for cooperative above-ground rehabilitation | PExo_t | Rigid portable | 13 March 2014 | 16 December 2021 |
| [134] | CN | Walking stick type autonomous falling protection rehabilitation walking-aid robot | PExo_t | Rigid portable with wheels | 02 August 2017 | 14 July 2020 |
| [135] | CN | The ectoskeleton wheelchair integrated mobile auxiliary robot of telescopic | PExo_t | Rigid portable with wheels | 29 November 2016 | 20 April 2018 |
| [136] | CN | A kind of link joint integrated hydraulic driving ectoskeleton | PExo_t | Rigid portable | 01 March 2016 | 20 November 2018 |
| [137] | CN | Collapsible mobile lower-limb exoskeleton | PExo_t | Rigid portable | 08 January 2016 | 11 July 2017 |
| [138] | CN | Lower-limb rehabilitation robot based on bidirectional neural interface | PExo_t | Rigid non-portable | 26 July 2018 | 30 July 2021 |
| [139] | US | Torque control methods for an exoskeleton device | PExo_p | Rigid portable | 25 May 2017 | 11 February 2020 |
| [140] | KR | Sensor system for a user’s intention following and walk supporting robot | PExo_t | Rigid portable | 29 December 2009 | 06 August 2012 |
| [141] | US | Walking assist robot and control method thereof | PExo_t | Rigid portable | 03 December 2014 | 23 May 2017 |
| [142] | CN | Lower-limb exoskeleton system with actively adjustable leg rod length and control method thereof | PExo_t | Rigid portable | 25 May 2020 | 14 September 2021 |
| [143] | CN | Variable-rigidity lower-limb exoskeleton power-assisted robot | PExo_t | Rigid portable | 20 August 2019 | 17 December 2021 |
| [144] | CN | Wearable lower-limb healing robot based on exoskeleton | PExo_t | Rigid portable | 07 May 2016 | 23 January 2018 |
| [145] | CN | A kind of passive energy storage foot mechanism for lower-limb assistance exoskeleton | PExo_t | Rigid portable | 23 February 2016 | 20 October 2017 |
| [146] | CN | Lower-limb rehabilitation robot movement intention reasoning method | PExo_t | Rigid non-portable | 22 December 2017 | 22 October 2021 |
| [147] | CN | Portable ankle joint rehabilitation robot based on active intention control | PExo_p | Rigid portable | 29 November 2017 | 01 September 2020 |
| [148] | CN | A kind of passive exoskeleton device of hip knee double jointed based on clutch timesharing regulation | PExo_p | Rigid portable | 14 September 2018 | 08 October 2019 |
| [149] | CN | Exoskeleton hybrid control system and method for lower-limb walking aid machine | PExo_t | Rigid portable with wheels | 11 August 2016 | 22 May 2020 |
| [150] | US | Reconfigurable ankle exoskeleton device | PExo_p | Rigid portable | 24 June 2010 | 05 February 2013 |
| [151] | ES | Active orthosis for the neurological rehabilitation of the movement of the lower limbs, a system comprising said orthosis and a process to put said system into operation | PExo_t | Rigid portable | 20 February 2013 | 04 May 2018 |
| [152] | CN | Lower-limb exoskeleton control method and device | PExo_t | Rigid non-portable | 16 October 2019 | 04 January 2022 |
| [153] | CN | A kind of wearable flexible lower-limb exoskeleton based on negative pressure rotary pneumatic artificial-muscle | PExo_t | Rigid portable | 25 April 2018 | 26 July 2019 |
| [154] | CN | A kind of portable waist hunting gear | PExo_t | Rigid portable with wheels | 12 October 2015 | 11 July 2017 |
| [155] | CN | A kind of Unweighting walking rehabilitation training robot | PExo_t | Rigid portable with wheels | 22 April 2016 | 16 October 2018 |
| [156] | CN | A kind of wearable flexible knee joint robotic exoskeleton equipment based on gait | PExo_t | Rigid portable | 01 December 2016 | 09 April 2019 |
| [157] | CN | Semi-automatic bone installations of pulling together | PExo_p | Rigid non-portable | 21 June 2016 | 09 March 2018 |
| [158] | RU | Actuation system for hip joint orthosis | PExo_p | Rigid portable | 08 February 2016 | 04 December 2019 |
| [159] | CN | Lower-limb exoskeleton heterogeneous knee joint based on parallel elastomers | PExo_p | Rigid portable | 23 October 2018 | 15 June 2021 |
| [160] | CN | Flexible body harness | PExo_t | Rigid portable | 25 February 2016 | 10 April 2020 |
| [161] | US | Lower-limb training rehabilitation apparatus | PExo_t | Rigid non-portable | 12 March 2018 | 09 November 2021 |
| [162] | CN | Motion control method suitable for exoskeleton robot | PExo_t | Rigid portable | 31 May 2020 | 25 May 2021 |
| [163] | CN | Anti-falling system based on lower-limb exoskeleton robot | PExo_t | Rigid non-portable | 19 July 2018 | 29 December 2020 |
| [164] | CN | A kind of lower-limb exoskeleton robot | PExo_t | Rigid portable | 17 August 2016 | 05 September 2017 |
| [165] | CN | A kind of unpowered wearable auxiliary walking servomechanism | PExo_t | Rigid portable | 01 December 2016 | 25 December 2018 |
| [166] | CN | A kind of sufficient isomorphism deformation type wheelchair exoskeleton robot of wheel | PExo_t | Rigid portable with wheels | 22 February 2018 | 03 December 2019 |
| [167] | CN | Overload slipping mechanism of lower-limb exoskeleton robot | PExo_t | Rigid portable | 26 April 2019 | 08 October 2021 |
| [168] | CN | The external bone robot of hemiparalysis recovery type | PExo_t | Rigid portable | 15 July 2016 | 12 October 2018 |
| [169] | CN | A kind of exoskeleton robot | PExo_t | Rigid portable | 21 December 2016 | 28 December 2018 |
| [170] | JP | Life activity detection device and life activity detection system | PExo_t | Suit | 24 August 2016 | 19 August 2020 |
| [171] | KR | Walking assistance apparatus and operation method of the same | PExo_t | Rigid portable with wheels | 06 December 2017 | 20 June 2019 |
| [172] | CN | Human lower-limb assisting device | PExo_t | Rigid portable | 30 November 2018 | 18 September 2020 |
| [173] | JP | Control design framework for resistant exoskeleton | PExo_t | Rigid portable | 15 July 2016 | 16 December 2020 |
| [174] | CN | Auxiliary exercise system and lower-limb exoskeleton control method | PExo_t | Rigid portable | 06 June 2019 | 18 May 2021 |
| [175] | CN | A kind of the lower-limb exoskeleton training method and system of the triggering of Mental imagery pattern brain–computer interface | PExo_t | Rigid non-portable | 25 January 2016 | 03 November 2017 |
| [176] | CN | Human motion intention recognition control device and control method | PExo_t | Rigid portable | 23 November 2018 | 25 December 2020 |
| [177] | KR | Ankle module for gait rehabilitation robot | PExo_p | Rigid portable | 04 November 2016 | 28 December 2018 |
| [178] | KR | Soft Exosuit for Fall Prevention and Gait Assistance | PExo_t | Suit | 29 November 2018 | 30 September 2019 |
| [179] | CN | The ectoskeleton walk help system driven with functional muscle electric stimulation | PExo_t | Rigid portable | 19 September 2016 | 08 January 2019 |
| [180] | US | Integrated platform to monitor and analyze individual progress in physical and cognitive tasks | PExo_t | Rigid portable | 18 July 2016 | 14 January 2020 |
| [181] | CN | Human motion trend detection device and detection method based on force sensor | PExo_t | Rigid non-portable | 25 March 2016 | 28 July 2020 |
| [182] | CN | Exoskeleton robot leg exercise system | PExo_t | Rigid portable | 31 August 2016 | 07 September 2018 |
| [183] | CN | Online step generation control system for exoskeleton robot contralateral training | PExo_t | Rigid non-portable | 09 December 2020 | 16 April 2021 |
| [184] | CN | A kind of detachable recovery set for lower limbs and control method | PExo_t | Rigid portable with wheels | 02 December 2016 | 30 April 2019 |
| [185] | EP | Adaptive assistive and/or rehabilitative device and system | PExo_t | Rigid portable with wheels | 12 February 2019 | 08 September 2021 |
| [186] | US | Wearable assistive device that efficiently delivers assistive force | PExo_t | Rigid portable | 22 February 2019 | 06 October 2020 |
| [187] | JP | Leg straightening device and straightening device | PExo_t | Rigid portable | 24 June 2015 | 14 February 2020 |
| [188] | CN | The lower-limb rehabilitation ectoskeleton control system and method that subject dominates | PExo_t | Rigid portable | 11 August 2016 | 24 May 2019 |
| [189] | TW | Walking rehabilitation robot system | PExo_t | Rigid portable | 07 September 2018 | 01 September 2020 |
| [190] | KR | Ankle assist apparatus | PExo_p | Rigid portable | 17 November 2017 | 05 September 2019 |
| [191] | CN | A kind of single rope towards gait and balance rehabilitation training suspends active loss of weight system in midair | PExo_t | Rigid non-portable | 18 September 2016 | 10 July 2018 |
| [192] | CN | Convalescence device walking trigger control method based on trunk center of gravity shift | PExo_t | Rigid portable | 25 November 2015 | 13 April 2018 |
| [193] | CN | Brain-myoelectricity fusion small-world neural network prediction method for human lower-limb movement | PExo_t | Soft non-portable | 15 July 2020 | 07 September 2021 |
| [194] | JP | Assisted rehabilitation training robot | PExo_t | Rigid non-portable | 28 February 2017 | 07 August 2019 |
| [195] | KR | Wearable soft exoskeleton apparatus | PExo_t | Rigid portable | 25 July 2016 | 04 January 2018 |
| [196] | CN | Walking aid for hemiplegia patients | PExo_t | Rigid portable | 06 June 2018 | 30 June 2020 |
| [197] | ES | Drive device for motorized orthosis | PExo_t | Rigid portable | 12 April 2018 | 30 September 2021 |
| [198] | KR | Wearable robot and control method for the same | PExo_t | Rigid portable | 31October 2013 | 20 August 2020 |
| [199] | US | System and device for guiding and detecting motions of 3-DOF rotational target joint | PExo_p | Rigid portable | 16 January 2017 | 05 October 2021 |
| [200] | CN | Ankle treatment and exoskeleton measurement device not making contact with ground, capable of being worn and capable of being reconstructed | PExo_p | Rigid portable | 15 April 2013 | 25 June 2014 |
| [201] | CN | A kind of unpowered walking power-assisted flexible exoskeleton device | PExo_t | Rigid portable | 27 December 2017 | 20 September 2019 |
| [202] | CN | Lower-limb exoskeleton driver | PExo_t | Rigid portable | 29 August 2019 | 29 September 2020 |
| [203] | EP | Walking training apparatus and state determination method | PExo_t | Rigid non-portable | 15 March 2017 | 30 September 2020 |
| [204] | KR | Shoe module for detecting walking phase, method, gait analysis system and active walking assist device using the same | PExo_p | Rigid non-portable | 10 November 2014 | 16 August 2016 |
| [205] | KR | Muscle rehabilitation training method using walking-assistive robot | PExo_t | Rigid portable | 28 January 2014 | 01 October 2015 |
| [206] | CN | Method for controlling man-machine interactive motion of lower-limb exoskeleton based on joint stress | PExo_t | Rigid portable | 26 December 2018 | 11 February 2022 |
| [207] | CN | Pelvic auxiliary walking rehabilitation training robot | PExo_p | Rigid non-portable | 21 November 2019 | 09 November 2021 |
| [208] | CN | Auxiliary standing device and auxiliary standing mechanism | PExo_t | Rigid portable with wheels | 19 July 2019 | 28 December 2021 |
| [209] | US | Tendon device for suit type robot for assisting human with physical strength | PExo_t | Suit | 27 October 2017 | 13 October 2020 |
| [210] | CN | Pneumatic waist assistance exoskeleton robot | PExo_p | Rigid portable | 20 April 2018 | 08 September 2020 |
| [211] | CN | Exoskeleton robot line winding driving hip joint | PExo_t | Rigid portable | 31 August 2016 | 14 August 2018 |
| [212] | US | Method and system for control and operation of motorized orthotic exoskeleton joints | PExo_t | Rigid portable | 01 April 2015 | 07 May 2019 |
| [213] | US | System and method for the regeneration of at least one severed nerve conduit | PExo_t | Rigid non-portable | 20 July 2018 | 02 February 2021 |
| [214] | KR | Robot for Assistance Exoskeletal Power | PExo_t | Rigid portable with wheels | 07 March 2012 | 18 February 2014 |
| [215] | CN | Sit and stand and go multi-functional motion auxiliary robot | PExo_t | Rigid portable with wheels | 22 August 2018 | 01 May 2020 |
| [216] | EP | Wearable assistive device performing protection operation for drive system | PExo_t | Rigid portable with wheels | 26 February 2019 | 10 November 2021 |
| [217] | CN | A kind of exoskeleton robot follow-up control device | PExo_t | Rigid portable | 12 June 2015 | 31 May 2017 |
| [218] | US | Walking assistance method and apparatuses | PExo_p | Rigid portable | 04 January 2018 | 07 September 2021 |
| [219] | US | Methods of exoskeleton communication and control | PExo_t | Rigid portable | 14 April 2016 | 30 June 2020 |
| [220] | EP | Foot for a robotic exoskeleton for assisted walking of persons suffering from locomotor disorders | PExo_p | Rigid portable | 14 July 2016 | 17 July 2019 |
| [221] | CN | External structure holder device | PExo_t | Rigid portable | 08 July 2014 | 09 January 2018 |
| [222] | US | Magneto-rheological series elastic actuator | PExo_t | Rigid portable | 30 March 2018 | 21 April 2020 |
| [223] | KR | A knee-orthosis to assist the gait by support the knee-joint | PExo_p | Rigid portable | 01 February 2012 | 15 November 2013 |
| [224] | CN | A kind of plantar pressure measuring device and method for ectoskeleton control | PExo_p | Rigid portable | 25 April 2016 | 12 October 2018 |
| [225] | US | Exoskeleton device | PExo_t | Rigid portable | 10 May 2019 | 15 June 2021 |
| [226] | US | Exoskeleton device | PExo_t | Rigid portable | 10 May 2019 | 17 August 2021 |
| [227] | CN | Power-source-free knee joint mechanism | PExo_p | Rigid portable | 12 June 2020 | 29 September 2020 |
| [228] | CN | A kind of ectoskeleton walk help system driven with functional muscle electric stimulation | PExo_t | Rigid portable | 19 September 2016 | 05 April 2019 |
| [229] | KR | Robot for lower limb with multi-link type knee joint and method for controlling the same | PExo_t | Rigid portable | 25 March 2016 | 13 February 2018 |
| [230] | CN | A kind of hip joint structure of wearable exoskeleton robot | PExo_p | Rigid portable | 23 May 2016 | 21 September 2018 |
| [231] | CN | Variable-rigidity lower-limb exoskeleton robot based on shape–memory alloy | PExo_t | Rigid portable | 03 August 2020 | 04 January 2022 |
| [232] | CN | Lower-limb exoskeleton inverse motion analysis method under random road surface condition | PExo_t | Rigid portable | 11 November 2016 | 19 May 2020 |
| [233] | CN | A kind of light-duty ankle-joint ectoskeleton | PExo_p | Rigid portable | 06 January 2017 | 05 February 2019 |
| [234] | CN | Wearable metatarsophalangeal joint walking power assisting device | PExo_p | Rigid portable | 22 June 2020 | 27 August 2021 |
| [235] | CN | Flexible exoskeleton robot assisting movement of hip joint and knee joint | PExo_p | Rigid portable | 14 June 2018 | 26 June 2020 |
| [236] | KR | Walking Pattern Training and Intension Analysis System Through Complex Stimulus, and Method thereof | PExo_t | Rigid portable | 27 June 2017 | 28 December 2018 |
| [237] | US | Belt for effective wearing and wearable assistive device having the same | PExo_t | Rigid portable | 14 March 2019 | 31 March 2020 |
| [238] | RU | Femal link of an active foot orthosis | PExo_t | Rigid portable | 11 July 2016 | 25 May 2017 |
| [239] | KR | Gait rehabilitation apparatus | PExo_t | Rigid non-portable | 30 May 2018 | 06 July 2020 |
| [240] | CN | The walking trigger control method of convalescence device based on foot pressure sensor | PExo_t | Rigid non-portable | 25 November 2015 | 15 May 2018 |
| [241] | KR | Walking assistance apparatus and operation method of the same | PExo_t | Rigid portable with wheels | 06 December 2017 | 28 August 2019 |
| [242] | JP | Joint motion assist device | PExo_p | Rigid portable | 10 January 2014 | 29 March 2017 |
| [243] | EP | Walking training apparatus and method of controlling the same | PExo_t | Rigid non-portable | 15 December 2017 | 23 September 2020 |
| [244] | CN | Control method of lower-limb exoskeleton robot | PExo_t | Rigid portable | 28 November 2018 | 22 December 2020 |
| [245] | CN | Sole human–computer interaction measuring device based on multi-source information fusion | PExo_p | Rigid portable | 23 October 2018 | 06 July 2021 |
| [246] | CN | Handrail type intelligent tumble protection walking aid rehabilitation robot | PExo_t | Rigid portable with wheels | 24 July 2018 | 04 August 2020 |
| [247] | CN | Support member and the self-adapting seat device with the support member | PExo_t | Rigid portable | 29 September 2015 | 31 October 2017 |
| [248] | CN | Lower-limb power assisting device | PExo_t | Rigid portable | 13 May 2019 | 08 February 2022 |
| [249] | KR | Walking assistance apparatus and operation method of the same | PExo_t | Rigid portable with wheels | 06 December 2017 | 28 August 2019 |
| [250] | CN | A kind of convalescence device speed of travel control method rocked based on trunk | PExo_t | Rigid portable | 13 November 2015 | 05 January 2018 |
| [251] | CN | A kind of adaptive ectoskeleton knee joint support plate unlocked | PExo_t | Rigid portable | 17 August 2016 | 15 June 2018 |
| [252] | CN | Standing mode control method of exoskeleton mechanical leg rehabilitation system | PExo_t | Rigid portable | 24 February 2017 | 22 September 2020 |
| [253] | CN | Electromyographic signal collection position choosing method based on complex network | PExo_t | Suit | 23 March 2016 | 29 May 2018 |
| [254] | CN | The bionical dynamic knee joint system in the wearable list source of one kind and its control method | PExo_p | Rigid portable | 29 December 2017 | 30 August 2019 |
| [255] | EP | Exoskeleton and mounting arrangement | PExo_t | Rigid portable | 18 December 2018 | 25 November 2020 |
| [256] | US | Active arm passive leg exercise machine with guided leg movement | PExo_t | Rigid non-portable | 02 April 2019 | 10 August 2021 |
| [257] | CA | Self-supported device for guiding motions of a target joint | PExo_t | Rigid non-portable | 13 May 2019 | 08 June 2021 |
| [258] | CN | A kind of wearable leg power brace of self-regulation | PExo_t | Rigid portable | 18 July 2016 | 12 February 2019 |
| [259] | CN | A wheeled drive self-balancing power ectoskeleton of sole for spinal cord injury patient | PExo_t | Rigid portable | 12 April 2017 | 20 March 2020 |
| [260] | EP | Controlling position of wearable assistive device depending on operation mode | PExo_t | Rigid portable with wheels | 26 February 2019 | 17 November 2021 |
| [261] | RU | Modular orthopedic apparatus | PExo_p | Rigid portable | 04 September 2017 | 28 June 2018 |
| [262] | US | Methods and systems for an exoskeleton to reduce a runners metabolic rate | PExo_p | Rigid portable | 15 April 2019 | 04 February 2020 |
| [263] | CN | Telescopic structure and exoskeleton robot with same | PExo_t | Rigid portable | 14 November 2018 | 02 February 2021 |
| [264] | EP | Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device | PExo_t | Rigid portable | 23 April 2018 | 05 January 2022 |
| [265] | US | Exoskeleton system | PExo_t | Rigid portable | 30 April 2019 | 07 December 2021 |
| [266] | KR | Reaction force adjusting device of exoskeleton system and variable stiffness actuator using the same | PExo_t | Rigid portable | 30 March 2018 | 16 January 2020 |
| [267] | US | Safety monitoring and control system and methods for a legged mobility exoskeleton device | PExo_t | Rigid portable | 18 November 2016 | 03 August 2021 |
| [268] | KR | Elastic type sole assembly in wearable robot absorbing impact and detecting ground reaction force | PExo_p | Rigid portable | 16 September 2014 | 10 May 2016 |
| [269] | JP | Foot mounting structure of joint motion assist device | PExo_p | Rigid portable | 09 August 2013 | 08 June 2016 |
| [270] | US | Adaptable robotic gait trainer | PExo_t | Rigid non-portable | 20 April 2018 | 05 October 2021 |
| [271] | KR | Reaction force adjusting device and method using variable stiffness actuator of exoskeleton system | PExo_t | Rigid portable | 30 March 2018 | 16 January 2020 |
| [272] | US | Exosuit systems and methods | PExo_t | Suit | 28 November 2018 | 07 December 2021 |
| [273] | CN | A kind of ectoskeleton stopping means | PExo_t | Rigid portable | 19 May 2016 | 30 January 2018 |
| [274] | ES | System to assist walking | PExo_t | Rigid portable | 17 October 2016 | 11 September 2018 |
| [275] | CN | Electro–hydraulic hybrid driving exoskeleton device | PExo_t | Rigid portable | 25 May 2018 | 07 April 2020 |
| [276] | CN | Pneumatic weight-reducing walking power-assisted robot | PExo_t | Rigid portable | 30 August 2018 | 16 June 2020 |
| [277] | DE | Mobility system | PExo_t | Rigid non-portable | 17 August 2016 | 05 October 2017 |
| [278] | KR | Gait assist robot for rehabilitation training with lift device | PExo_t | Rigid portable with wheels | 24 October 2019 | 03 December 2021 |
| [279] | KR | Robot device for upper and lower extremity rehabilitation | PExo_t | Rigid non-portable | 21 April 2020 | 30 September 2021 |
| [280] | CN | Device and method for realizing cooperative motion of weight-reducing vehicle and lower-limb robot through communication | PExo_t | Rigid portable with wheels | 18 November 2019 | 21 September 2021 |
| [281] | CN | Counter weight type lower-limb rehabilitation robot | PExo_t | Rigid non-portable | 21 October 2019 | 16 November 2021 |
| [282] | CN | Lower-limb exoskeleton robot with overload slipping function | PExo_p | Rigid portable | 26 April 2019 | 08 October 2021 |
| [283] | CN | Device and method for assisting lower-limb robot to transfer gravity center by aid of weight reduction vehicle | PExo_t | Rigid portable with wheels | 02 December 2019 | 19 November 2021 |
| [284] | CN | Anti-falling walking aid vehicle for lower-limb rehabilitation training and rehabilitation training method | PExo_t | Rigid non-portable | 12 July 2019 | 21 July 2020 |
| [285] | KR | Patient weight burden reduction device of walking rehabilitation training robot | PExo_t | Rigid portable with wheels | 24 October 2019 | 26 October 2021 |
| [286] | CN | Exoskeleton joint self-locking mechanism, knee joint and bionic rehabilitation robot | PExo_p | Rigid portable | 29 September 2020 | 05 February 2021 |
| [287] | CN | Lower-limb exoskeleton ankle joint based on telecentric mechanism | PExo_p | Rigid portable | 23 October 2018 | 02 March 2021 |
| [288] | KR | Lower extremity exoskeleton robotic device | PExo_t | Rigid portable | 20 May 2021 | 24 August 2021 |
| [289] | CN | Lower-limb exoskeleton capable of being used for both wheel and leg | PExo_t | Rigid portable with wheels | 01 July 2019 | 11 May 2021 |
| [290] | CN | Auxiliary dual-purpose outer limb robot for human body movement | PExo_t | Rigid portable | 08 July 2019 | 08 September 2020 |
| [291] | KR | Rehabilitation walking method considering patient’s rom characteristics and system thereof | PExo_t | Rigid portable | 27 December 2017 | 09 September 2019 |
| [292] | JP | Lower limbs of the exoskeleton with low power consumption | PExo_t | Rigid portable | 19 September 2018 | 17 March 2021 |
| [293] | CN | Novel self-balancing ectoskeleton robot | PExo_t | Rigid portable | 23 April 2021 | 01 February 2022 |
| [294] | KR | Rehabilitation robot | PExo_t | Rigid non-portable | 24 July 2018 | 26 February 2020 |
| [295] | KR | Leg opening joint of walking exoskeleton and walking exoskeleton comprising the same | PExo_t | Rigid portable | 19 November 2018 | 15 November 2019 |
| [296] | CN | Motion decoupling parallel driving type exoskeleton robot ankle joint | PExo_p | Rigid portable | 23 April 2021 | 25 January 2022 |
| [297] | CN | Locking-free hip adjusting device | PExo_p | Rigid portable | 23 December 2020 | 09 April 2021 |
| [298] | CN | Constant-force human body suspension system for rehabilitation training | PExo_t | Rigid non-portable | 06 August 2019 | 29 September 2020 |
| [299] | CN | Control method of hydraulic system of knee joint rehabilitation robot | PExo_p | Rigid portable | 24 August 2017 | 21 July 2020 |
| [300] | CN | Walking-aid boots | PExo_p | Rigid portable | 20 September 2017 | 07 April 2020 |
| [301] | KR | Walking assistance system | PExo_t | Rigid non-portable | 18 February 2020 | 17 January 2022 |
| [302] | KR | Wearable suit control method | PExo_t | Suit | 15 November 2019 | 10 August 2021 |
| [303] | CN | Power-assisted exoskeleton control method, power-assisted exoskeleton control system and computer equipment | PExo_t | Rigid portable | 15 November 2019 | 29 October 2021 |
| [304] | CN | Variable-rigidity knee joint exoskeleton robot based on shape–memory alloy | PExo_p | Rigid portable | 03 August 2020 | 14 January 2022 |
| [305] | KR | Motion assist apparatus | PExo_p | Rigid portable | 25 July 2018 | 16 September 2020 |
| [306] | RU | Exoskeleton | PExo_t | Rigid portable | 15 April 2021 | 26 November 2021 |
| [307] | KR | Two-leg walking assistant system for boarding type | PExo_t | Rigid portable | 02 December 2013 | 03 March 2015 |
| [308] | US | Soft inflatable exosuit for knee rehabilitation | PExo_t | Suit | 31 July 2018 | 01 March 2022 |
| [309] | KR | Walk assistance and fall prevention wearable suit | PExo_t | Suit | 15 November 2019 | 07 March 2022 |
| [310] | KR | Size-adjustable pelvis unit and wearable walking robot comprising the same | PExo_p | Rigid portable | 16 March 2016 | 09 August 2017 |
| [311] | CN | A kind of human foot’s bionic exoskeleton system | PExo_t | Rigid portable | 22 September 2016 | 28 August 2018 |
| [312] | KR | Apparatus and method for observing feedback force of wearable exoskeleton system | PExo_t | Rigid portable | 13 February 2018 | 01 October 2019 |
| [313] | JP | Measurement system, measurement method, and program | PExo_t | Rigid portable | 18 May 2017 | 02 June 2021 |
| [314] | KR | Devices designed to be positioned near joints and systems incorporating such devices | PExo_p | Rigid portable | 28 October 2019 | 09 December 2021 |
Table A2.
PatentScope platform.
| Cite | Country Code | Title | Type of Treatment | Type of Structure | Application Date | Publication Date |
|---|---|---|---|---|---|---|
| [315] | US | Lower extremity exoskeleton for gait retraining | PExo_t | Rigid portable | 26 October 2015 | 02 June 2016 |
| [27] | US | Lower extremity exoskeleton for gait retraining | PExo_t | Rigid portable | 28 September 2012 | 29 August 2013 |
| [316] | WO | Lower extremity exoskeleton for gait retraining | PExo_t | Rigid portable | 28 September 2012 | 04 April 2013 |
| [317] | US | Pneumatic lower extremity gait rehabilitation training system | PExo_t | Rigid non-portable | 12 September 2016 | 15 March 2018 |
| [318] | WO | Powered orthotic system for cooperative overground rehabilitation | PExo_t | Rigid portable | 13 March 2014 | 02 October 2014 |
| [319] | IN | Robotic exoskeleton assisted (locomotion) rehabilitation system “rears” | PExo_t | Rigid portable with wheels | 14 December 2017 | 01 February 2019 |
| [320] | WO | Active sling for the motion neurological rehabilitation of lower limbs, system comprising such sling and process for operating such system | PExo_t | Rigid portable | 20 February 2013 | 19 September 2013 |
| [321] | EP | Active orthosis for the motion neurological rehabilitation of lower limbs, system comprising such orthosis and process for operating such system | PExo_t | Rigid portable | 20 February 2013 | 21 January 2015 |
| [322] | WO | Interface for adjusting the motion of a powered orthotic device through externally applied forces | PExo_t | Rigid portable | 15 January 2014 | 24 July 2014 |
| [323] | EP | Interface for adjusting the motion of a powered orthotic device through externally applied forces | PExo_t | Rigid portable | 15 January 2014 | 25 November 2015 |
| [324] | EP | Powered orthotic system for cooperative overground rehabilitation | PExo_t | Rigid portable | 13 March 2014 | 20 January 2016 |
| [325] | EP | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility | PExo_t | Suit | 03 December 2014 | 19 October 2016 |
| [326] | WO | Interactive exoskeleton robotic knee system | PExo_p | Rigid portable | 01 March 2016 | 17 November 2016 |
| [327] | US | Admittance shaping controller for exoskeleton assistance of the lower extremities | PExo_p | Rigid portable | 05 December 2017 | 12 April 2018 |
| [328] | US | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility | PExo_t | Suit | 03 December 2014 | 20 July 2017 |
| [329] | WO | Bio-inspired adaptive impedance-based controller for human–robot interaction and method | PExo_t | Rigid non-portable | 26 August 2019 | 27 February 2020 |
| [330] | US | Apparatus and system for limb rehabilitation | PExo_t | Rigid portable with wheels | 29 November 2018 | 20 June 2019 |
| [28] | US | Lower extremity robotic rehabilitation system | PExo_t | Rigid non-portable | 05 October 2012 | 10 April 2014 |
| [331] | US | Admittance shaping controller for exoskeleton assistance of the lower extremities | PExo_p | Rigid portable | 25 June 2015 | 18 February 2016 |
| [332] | US | Modular and minimally constraining lower-limb exoskeleton for enhanced mobility and balance augmentation | PExo_t | Rigid portable | 04 October 2017 | 22 August 2019 |
| [333] | WO | Modular and minimally constraining lower-limb exoskeleton for enhanced mobility and balance augmentation | PExo_t | Rigid portable | 04 October 2017 | 12 April 2018 |
| [334] | EP | Soft exosuit for assistance with human motion | PExo_t | Suit | 30 May 2014 | 13 April 2016 |
| [335] | EP | Soft exosuit for assistance with human motion | PExo_t | Suit | 30 May 2014 | 17 February 2021 |
| [336] | US | Methods of enhancing the or training rehabilitation of an exoskeleton wearer | PExo_t | Rigid portable | 11 November 2015 | 22 March 2018 |
| [337] | WO | Apparatus and system for limb rehabilitation | PExo_t | Rigid portable with wheels | 29 November 2018 | 20 June 2019 |
| [338] | US | Bio-inspired standing balance controller for a full-mobilization exoskeleton | PExo_p | Rigid portable | 16 July 2020 | 21 January 2021 |
| [339] | WO | Methods for improved user mobility and treatment | PExo_t | Rigid portable | 27 May 2021 | 02 December 2021 |
| [340] | WO | Exoskeleton ankle robot | PExo_p | Rigid portable | 01 March 2016 | 17 November 2016 |
| [341] | US | Powered medical device and methods for improved user mobility and treatment | PExo_t | Rigid portable | 27 May 2021 | 02 December 2021 |
| [342] | WO | Methods of enhancing the rehabilitation or training of an exoskeleton wearer | PExo_t | Rigid portable | 11 November 2015 | 19 May 2016 |
| [343] | EP | Soft wearable muscle assisting device | PExo_t | Suit | 21 December 2017 | 02 September 2020 |
| [344] | EP | Exoskeleton | PExo_t | Rigid portable | 11 November 2015 | 20 September 2017 |
| [345] | WO | Soft wearable muscle assisting device | PExo_p | Suit | 21 December 2017 | 05 July 2018 |
| [346] | US | Human movement research, therapeutic, and diagnostic devices, methods, and systems | PExo_t | Rigid non-portable | 21 April 2015 | 02 February 2017 |
| [347] | US | Robotic management system for limb rehabilitation | PExo_t | Rigid portable with wheels | 30 October 2019 | 04 June 2020 |
| [348] | US | Interface for adjusting the motion of a powered orthotic device through externally applied forces | PExo_t | Rigid portable | 15 January 2014 | 10 December 2015 |
| [349] | US | Control system for movement reconstruction and/or restoration for a patient | PExo_t | Rigid non-portable | 13 November 2019 | 14 May 2020 |
| [350] | US | Data logging and third-party administration of a mobile robot | PExo_t | Rigid portable | 27 May 2021 | 02 December 2021 |
| [351] | US | Apparatus comprising a support system for a user and its operation in a gravity assist mode | PExo_t | Rigid non-portable | 17 August 2017 | 16 September 2021 |
| [352] | US | Integrated platform to monitor and analyze individual progress in physical and cognitive tasks | PExo_t | Rigid portable | 18 July 2016 | 14 January 2020 |
| [353] | EP | Soft exosuit for assistance with human motion | PExo_t | Suit | 17 September 2013 | 22 July 2015 |
| [354] | EP | Movement assistance device | PExo_t | Rigid portable | 17 June 2013 | 22 April 2015 |
| [355] | WO | Movement assistance device | PExo_t | Rigid portable | 17 June 2013 | 19 December 2013 |
| [356] | US | Exoskeleton and master | PExo_t | Rigid portable | 27 June 2017 | 01 August 2019 |
| [357] | US | Powered orthotic system for cooperative overground rehabilitation | PExo_t | Rigid portable | 13 March 2014 | 04 February 2016 |
| [358] | EP | Exoskeleton for assisting human movement | PExo_t | Rigid portable | 25 November 2015 | 04October 2017 |
| [359] | WO | Data logging and third-party administration of a mobile robot | PExo_t | Rigid portable | 27.05.2021 | 02 December 2021 |
| [360] | US | Reconfigurable exoskeleton | PExo_t | Rigid portable | 11 December 2013 | 10 December 2015 |
| [32] | US | Powered gait assistance systems | PExo_t | Rigid portable | 31 July 2017 | 30 September 2021 |
| [361] | CA | Apparatus and method for restoring voluntary control of locomotion in neuromotor impairments | PExo_t | Rigid non-portable | - | 05 December 2013 |
| [362] | AU | Apparatus and method for restoring voluntary control of locomotion in neuromotor impairments | PExo_t | Rigid non-portable | 29 May 2013 | 11 December 2014 |
| [363] | WO | Apparatus and method for restoring voluntary control of locomotion in neuromotor impairments | PExo_t | Rigid non-portable | 29 May 2013 | 05 December 2013 |
| [364] | EP | Apparatus for restoring voluntary control of locomotion in neuromotor impairments | PExo_t | Rigid non-portable | 29 May 2013 | 08 April 2015 |
| [365] | EP | Reconfigurable exoskeleton | PExo_t | Rigid portable | 11 December 2013 | 21 October 2015 |
| [366] | WO | Methods of communication exoskeleton and control | PExo_t | Rigid portable | 14 April 2016 | 20 October 2016 |
| [367] | EP | Soft exosuit for assistance with human motion | PExo_t | Suit | 17 September 2013 | 17 March 2021 |
| [368] | US | Soft exosuit for assistance with human motion | PExo_t | Suit | 17 September 2013 | 25 June 2015 |
| [369] | EP | Apparatus for restoring voluntary control of locomotion in neuromotor impairments | PExo_t | Rigid non-portable | 29 May 2013 | 08 November 2017 |
| [370] | US | Soft exosuit for assistance with human motion | PExo_t | Suit | 17 March 2015 | 12 November 2015 |
| [371] | US | Power-assist with adjustable lower-limb exoskeleton robot stiffness joints | PExo_t | Rigid portable | 10 January 2019 | 29 October 2020 |
| [372] | WO | Mobility assistance devices with automated assessment and adjustment control | PExo_t | Rigid portable | 07 February 2018 | 27 September 2018 |
| [373] | US | Soft exosuit for assistance with human motion | PExo_t | Suit | 13 April 2016 | 04 August 2016 |
| [374] | US | Exoskeleton ankle robot | PExo_p | Rigid portable | 21 June 2015 | 17 November 2016 |
| [375] | US | Mobility assistance devices with automated assessment and adjustment control | PExo_t | Rigid portable | 07 February 2018 | 27 February 2020 |
| [376] | EP | Method and apparatus for providing economical, portable deficit-adjusted adaptive assistance during movement phases of an impaired ankle | PExo_p | Rigid portable | 20 June 2016 | 15 September 2021 |
| [377] | WO | Method and apparatus for providing economical, portable deficit-adjusted adaptive assistance during movement phases of an impaired ankle | PExo_t | Rigid portable | 20 June 2016 | 29 December 2016 |
| [378] | WO | Customizable orthotic/prosthetic braces and lightweight modular exoskeleton | PExo_p | Rigid portable | 14 June 2017 | 21 December 2017 |
| [31] | US | Soft exosuit for assistance with human motion | PExo_t | Suit | 13 August 2020 | 11 February 2021 |
| [379] | WO | Powered gait assistance systems | PExo_t | Rigid portable | 31 July 2017 | 01 February 2018 |
| [380] | US | Customizable orthotic/prosthetic braces and lightweight modular exoskeleton | PExo_p | Rigid portable | 14 June 2017 | 31 October 2019 |
| [381] | IN | Method and apparatus for providing economical portable deficit adjusted adaptive assistance during movement phases of an impaired ankle | PExo_p | Rigid portable | 13 December 2017 | 16 March 2018 |
| [382] | US | Hybrid terrain- adaptive lower-extremity systems | PExo_p | Rigid portable | 31 December 2018 | 11 July 2019 |
| [383] | US | Robotic system for simulating a wearable device and method of use | PExo_t | Rigid non-portable | 20 December 2012 | 20 June 2013 |
| [384] | US | Kinetic sensing, signal generation, feature extraction, and pattern recognition for control of autonomous wearable leg devices | PExo_p | Rigid portable | 08 November 2017 | 10 October 2019 |
| [385] | US | Open-loop control for exoskeleton motor | PExo_t | Rigid portable | 19 March 2021 | 23 September 2021 |
| [386] | WO | Kinoped lower extremity performance improvement, injury prevention, and rehabilitation system | PExo_t | Rigid non-portable | 04 September 2020 | 11 March 2021 |
| [387] | EP | System for assisting walking | PExo_p | Rigid portable | 18 November 2016 | 26 September 2018 |
| [388] | CA | Methods of communication exoskeleton and control | PExo_t | Rigid portable | 14 April 2016 | 20 October 2016 |
| [389] | US | Movement assistance device | PExo_t | Rigid portable | 17 June 2013 | 21 May 2015 |
| [390] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_p | Rigid portable | 24 September 2013 | 20 March 2014 |
| [391] | US | Interactive exoskeleton robotic knee system | PExo_p | Rigid portable | 21 June 2015 | 17 November 2016 |
| [392] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_p | Rigid portable | 11 April 2016 | 13 October 2016 |
| [393] | US | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis | PExo_t | Rigid portable | 23 September 2013 | 20 March 2014 |
| [394] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_t | Rigid portable | 30 July 2018 | 25 April 2019 |
| [395] | WO | Apparatus comprising a support system for a user and its operation in a gravity assist mode | PExo_t | Rigid non-portable | 17 August 2017 | 22 February 2018 |
| [396] | US | Orthopedic device including protruding members | PExo_p | Rigid portable | 10 April 2015 | 02 February 2017 |
| [29] | US | Exoskeleton device and control system | PExo_p | Rigid portable | 25 May 2017 | 10 May 2018 |
| [397] | US | Cloud-based control system and method enabling interactive clinical care using a powered mobility assistance device | PExo_t | Rigid portable | 03 September 2019 | 16 December 2021 |
| [398] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_p | Rigid portable | 28 April 2016 | 18 August 2016 |
| [399] | US | Methods of communication exoskeleton and control | PExo_t | Rigid portable | 14 April 2016 | 05 April 2018 |
| [400] | US | Exoskeleton device and control system | PExo_p | Rigid portable | 24 February 2021 | 02 December 2021 |
| [401] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_p | Rigid portable | 30 November 2016 | 30 March 2017 |
| [402] | US | Soft exosuit for assistance with human motion | PExo_t | Suit | 30 May 2014 | 21 April 2016 |
| [403] | US | Systems, methods, and devices for assisting walking for developmentally delayed toddlers | PExo_p | Rigid portable | 05 February 2015 | 01 December 2016 |
| [404] | CA | Method and apparatus for providing economical, portable deficit-adjusted adaptive assistance during movement phases of an impaired ankle | PExo_p | Rigid portable | - | 29 December 2016 |
| [405] | US | Torque control methods for an exoskeleton device | PExo_p | Rigid portable | 25 May 2017 | 30 November 2017 |
| [406] | US | Patient aid devices, particularly for mobile upper extremity support in railed devices such as parallel bars and treadmills | PExo_p | Rigid portable | 23 October 2017 | 15 February 2018 |
| [407] | WO | Autonomous mobile support system for the robotic mobility-impaired | PExo_t | Rigid portable with wheels | 18 August 2020 | 06 May 2021 |
| [408] | US | Wearable robot and control method thereof | PExo_t | Rigid portable | 02 December 2014 | 16 July 2015 |
| [409] | US | Patient aid devices, particularly for mobile upper extremity support in railed devices such as parallel bars and treadmills | PExo_p | Rigid portable | 21 May 2015 | 26 November 2015 |
| [410] | WO | Wearable devices for protecting against musculoskeletal injuries and enhancing performance | PExo_p | Rigid portable | 15 February 2019 | 22 August 2019 |
| [411] | WO | Exosuit systems and methods | PExo_t | Suit | 28 November 2018 | 06 June 2019 |
| [412] | US | Exosuit systems and methods | PExo_t | Suit | 28 November 2018 | 30 May 2019 |
| [413] | US | System and method for the regeneration of at least one severed nerve conduit | PExo_t | Rigid non-portable | 20 July 2018 | 15 November 2018 |
| [414] | US | Exosuit load bearing distribution systems | PExo_t | Suit | 28 November 2018 | 30 May 2019 |
| [415] | US | Orthosis leg and orthosis | PExo_t | Rigid portable | 24 June 2015 | 08 June 2017 |
| [416] | CN | Lower extremity exoskeleton control method and apparatus | PExo_t | Rigid non-portable | 16 October 2019 | 21 February 2020 |
| [417] | EP | Esoskeleton equipped with electro-or magneto- rheological fluid type semi-active joints | PExo_t | Rigid portable | 29 December 2017 | 06 November 2019 |
| [30] | WO | Esoskeleton equipped with electro-or magneto- rheological fluid type semi-active joints | PExo_t | Rigid portable | 29 December 2017 | 05 July 2018 |
| [418] | US | Low profile exoskeleton | PExo_t | Rigid portable | 05 November 2015 | 12 May 2016 |
| [419] | WO | System for movement control | PExo_p | Rigid portable | 15 May 2020 | 26 November 2020 |
Table A3.
Lens platform.
| Cite | Country Code | Title | Type of Treatment | Type of Structure | Application Date | Publication Date |
|---|---|---|---|---|---|---|
| [420] | EP | Powered orthotic system for cooperative overground rehabilitation | PExo_t | Rigid portable | 13 March 2014 | 11 August 2021 |
| [421] | US | Movement assistance device | PExo_t | Rigid non-portable | 20 June 2017 | 06 October 2020 |
| [422] | US | Hybrid terrain-adaptive lower-extremity systems | PExo_p | Rigid portable | 30 June 2018 | 03 March 2020 |
| [423] | EP | System for assisting walking | PExo_t | Rigid portable | 18 November 2016 | 04 November 2020 |
| [424] | US | Optimal design of a lower-limb exoskeleton or orthosis | PExo_t | Rigid portable | 16 December 2014 | 18 February 2020 |
| [78] | US | Powered lower-limb devices and methods of control thereof | PExo_t | Rigid portable | 03 November 2017 | 07 December 2021 |
| [425] | US | Leg orthosis and orthosis | PExo_p | Rigid portable | 24 June 2015 | 23 November 2021 |
| [11] | US | Orthopedic device including protruding members | PExo_p | Rigid portable | 10 April 2015 | 15 December 2020 |
| [426] | US | Soft exosuit for assistance with human motion | PExo_t | Suit | 30 May 2014 | 24 November 2020 |
| [427] | US | Portable human exoskeleton system | PExo_t | Rigid portable | 09 February 2016 | 16 February 2021 |
| [428] | US | Motorized limb assistance device | PExo_p | Rigid portable | 02 May 2017 | 30 June 2020 |
| [429] | US | Legged robotic device utilizing modifiable linkage mechanism | PExo_t | Rigid portable | 05 May 2015 | 08 September 2020 |
| [430] | EP | Esoskeleton equipped with electro-or magneto-rheological fluid type semi-active joints | PExo_t | Rigid portable | 29 December 2017 | 07 April 2021 |
| [40] | US | Low profile exoskeleton | PExo_t | Rigid portable | 05 November 2015 | 18 February 2020 |
| [213] | US | System and method for the regeneration of at least one severed nerve conduit | PExo_t | Rigid non-portable | 20 July2018 | 02 February 2021 |
| [431] | US | Regulation of autonomic control of bladder voiding after a complete spinal cord injury | PExo_t | Rigid non-portable | 21 August 2015 | 25 August 2020 |
| [432] | EP | Movement assistance device | PExo_t | Rigid portable | 17 June 2013 | 08 January 2020 |
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Figure 2.
(a) Publications in COVID-19 pandemic period—highlight a selection to filter 6; (b) Inventors—patents count.
Figure 2.
(a) Publications in COVID-19 pandemic period—highlight a selection to filter 6; (b) Inventors—patents count.
Figure 3.
Percentage distribution by region after applying filters 5, 7 and 8.
Figure 4.
Distribution of patents by design (Complete Exoskeleton versus Exoskeleton Subsystems).
Figure 5.
Distribution by year of the number of published patents according to the type of structure and portable mode.
Figure 5.
Distribution by year of the number of published patents according to the type of structure and portable mode.
Figure 6.
Distribution of patent applications by region after applying filters 5 and 7.
Figure 7.
Distribution of patents in the period 2012–2022.
Figure 8.
Distribution of patents in the period 2012–2022.
Figure 9.
Distribution of patents by year of application and the problem that these exoskeletons deal with.
Figure 9.
Distribution of patents by year of application and the problem that these exoskeletons deal with.
Figure 10.
Distribution of patents by year of publication and the problem that these exoskeletons deal with.
Figure 10.
Distribution of patents by year of publication and the problem that these exoskeletons deal with.
Figure 11.
Distribution by year of the number of published patents according to the type of structure and portable mode.
Figure 11.
Distribution by year of the number of published patents according to the type of structure and portable mode.
Figure 12.
Distribution of patents by year of publication and the problem that these exoskeletons deal with.
Figure 12.
Distribution of patents by year of publication and the problem that these exoskeletons deal with.
Figure 13.
Distribution of patents by year of publication, the type of structure, and portable mode.
Figure 13.
Distribution of patents by year of publication, the type of structure, and portable mode.
Table 1.
The number of application patents by region.
| Regions | Number of Application Patents |
| Europe | 27 |
| Asia | 197 |
| SUA+Canada | 57 |
| Total | 281 |
Table 2.
The number of application patents by country.
| Country Code | Number of Application Patents |
|---|---|
| CA | 3 |
| CN | 129 |
| DE | 1 |
| ES | 16 |
| EP | 10 |
| JP | 13 |
| KR | 50 |
| RU | 4 |
| TW | 1 |
| US | 54 |
Table 3.
The number of patent applications and publications distributed per year.
| Year | Application Date | Publication Date |
|---|---|---|
| 2005 | 1 | 0 |
| 2006 | 1 | 0 |
| 2007 | 1 | 0 |
| 2008 | 2 | 0 |
| 2009 | 9 | 0 |
| 2010 | 2 | 0 |
| 2011 | 2 | 0 |
| 2012 | 6 | 3 |
| 2013 | 17 | 5 |
| 2014 | 16 | 10 |
| 2015 | 23 | 9 |
| 2016 | 59 | 9 |
| 2017 | 42 | 22 |
| 2018 | 51 | 40 |
| 2019 | 34 | 48 |
| 2020 | 12 | 65 |
| 2021 | 4 | 58 |
| 2022 | 0 | 13 |
Table 4.
Distribution by year of the number of patents according to the time elapsed between application and publication conforms with the Google Patents platform.
Table 4.
Distribution by year of the number of patents according to the time elapsed between application and publication conforms with the Google Patents platform.
| Application Date | The Time Elapsed between the Application and Publication of the Patent | Number of PExo_t | Number of PExo_p | |
|---|---|---|---|---|
| Minimum Period | Maximum Period | |||
| 2012 | 1 year | 5 years | 5 | 1 |
| 2013 | 1 year | 7 years | 15 | 2 |
| 2014 | 1 year | 7 years | 11 | 5 |
| 2015 | 2 years | 7 years | 20 | 3 |
| 2016 | 1 year | 5 years | 50 | 9 |
| 2017 | 1 year | 5 years | 32 | 10 |
| 2018 | 1 year | 4 years | 41 | 8 |
| 2019 | 1 year | 3 years | 29 | 4 |
| 2020 | 4 months | 2 years | 9 | 5 |
| 2021 | 7 months | 1 year | 4 | 1 |
Table 5.
Distribution of patents by year of publication.
| Year | PExo_c.t | PExo_c.p |
|---|---|---|
| 2012 | 3 | 0 |
| 2013 | 2 | 3 |
| 2014 | 9 | 1 |
| 2015 | 9 | 0 |
| 2016 | 5 | 4 |
| 2017 | 19 | 2 |
| 2018 | 34 | 6 |
| 2019 | 37 | 10 |
| 2020 | 55 | 11 |
| 2021 | 48 | 11 |
| 2022 | 11 | 2 |
Table 6.
The number of patent applications and publications distributed per year.
| Year | Application Date | Publication Date |
|---|---|---|
| 2000 | 3 | 0 |
| 2001 | 0 | 2 |
| 2002 | 0 | 0 |
| 2003 | 1 | 1 |
| 2004 | 0 | 1 |
| 2005 | 1 | 0 |
| 2006 | 2 | 3 |
| 2007 | 0 | 0 |
| 2008 | 6 | 3 |
| 2009 | 4 | 1 |
| 2010 | 0 | 3 |
| 2011 | 0 | 2 |
| 2012 | 4 | 1 |
| 2013 | 16 | 7 |
| 2014 | 12 | 6 |
| 2015 | 15 | 13 |
| 2016 | 14 | 21 |
| 2017 | 20 | 10 |
| 2018 | 10 | 15 |
| 2019 | 7 | 14 |
| 2020 | 5 | 9 |
| 2021 | 6 | 16 |
| 2022 | 0 | 0 |
Table 7.
Distribution by year of the number of patents according to the time elapsed between application and publication conforms with the PatentScope platform.
Table 7.
Distribution by year of the number of patents according to the time elapsed between application and publication conforms with the PatentScope platform.
| Application Date | The Time Elapsed between the Application and Publication of the Patent | Number of PExo_t | Number of PExo_p | |
|---|---|---|---|---|
| Minimum Period | Maximum Period | |||
| 2012 | 1 year | 2 years | 4 | 0 |
| 2013 | 7 months | 8 years | 15 | 1 |
| 2014 | 7 months | 7 years | 12 | 0 |
| 2015 | 8 months | 3 years | 9 | 5 |
| 2016 | 6 months | 5 years | 7 | 8 |
| 2017 | 6 months | 4 years | 11 | 9 |
| 2018 | 4 months | 2 years | 9 | 1 |
| 2019 | 6 months | 2 years | 6 | 1 |
| 2020 | 6 months | 1 year | 3 | 2 |
| 2021 | 7 months | 10 months | 5 | 1 |
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Pană, C.F.; Rădulescu, V.M.; Pătrașcu-Pană, D.M.; Petcu, F.L.; Reșceanu, I.C.; Cismaru, Ș.I.; Trășculescu, A.; Bîzdoacă, N. The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review. Appl. Sci. 2022, 12, 5393. https://doi.org/10.3390/app12115393
AMA Style
Pană CF, Rădulescu VM, Pătrașcu-Pană DM, Petcu FL, Reșceanu IC, Cismaru ȘI, Trășculescu A, Bîzdoacă N. The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review. Applied Sciences. 2022; 12(11):5393. https://doi.org/10.3390/app12115393
Chicago/Turabian StylePană, Cristina Floriana, Virginia Maria Rădulescu, Daniela Maria Pătrașcu-Pană, Florina Luminița Petcu (Besnea), Ionuț Cristian Reșceanu, Ștefan Irinel Cismaru, Andrei Trășculescu, and Nicu Bîzdoacă. 2022. "The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review" Applied Sciences 12, no. 11: 5393. https://doi.org/10.3390/app12115393
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