Robotic orthoses, or exoskeletons, have the potential to provide effective rehabilitation while
overcoming the availability and cost constraints of therapists. However, current orthosis …

Exoskeleton technology has made significant advances during the last decade, resulting in
a considerable variety of solutions for gait assistance and rehabilitation. The mechanical …

Lower-limb exoskeletons are external mechanical structures that support and assist human
users during locomotion. The earliest studies on exoskeletons date back to the 1960s …

This article presents the design and validation of a backdrivable powered knee orthosis for
partial assistance of lower-limb musculature, which aims to facilitate daily activities in …

This article presents assistive control schemes for rehabilitation robots. The objective was to
develop control strategies to follow a predefined path by maximizing the active participation …

Mobility disabilities are prominent in society with wide-ranging deficits, motivating modular,
partial-assist, lower-limb exoskeletons for this heterogeneous population. This letter …

This paper presents the mechatronic design and experimental validation of a novel powered
knee-ankle orthosis for testing torque-driven rehabilitation control strategies. The modular …

Background Currently, control of exoskeletons in rehabilitation focuses on imposing desired
trajectories to promote relearning of motions. Furthermore, assistance is often provided by …

This paper presents the mechatronic design and initial validation of a partial-assist knee
orthosis for individuals with musculoskeletal disorders, eg, knee osteoarthritis and lower …

Compliant actuators are increasingly being designed for wearable robots (WRs) to more
adequately address their issues with safety, wearability, and overall system efficiency. The …