Review of control strategies for lower-limb exoskeletons to assist gait
Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a
large range of control methods. The goal of this paper is to review and classify these control …
large range of control methods. The goal of this paper is to review and classify these control …
The exoskeleton expansion: improving walking and running economy
Since the early 2000s, researchers have been trying to develop lower-limb exoskeletons
that augment human mobility by reducing the metabolic cost of walking and running versus …
that augment human mobility by reducing the metabolic cost of walking and running versus …
The influence of using exoskeletons during occupational tasks on acute physical stress and strain compared to no exoskeleton–A systematic review and meta …
M Bär, B Steinhilber, MA Rieger, T Luger - Applied Ergonomics, 2021 - Elsevier
Objectives This systematic review and meta-analysis determined the effects of using an
exoskeleton during occupational tasks on physical stress and strain compared to not using …
exoskeleton during occupational tasks on physical stress and strain compared to not using …
Modeling and stiffness-based continuous torque control of lightweight quasi-direct-drive knee exoskeletons for versatile walking assistance
State-of-the-art exoskeletons are typically limited by the low control bandwidth and small-
range stiffness of actuators, which are based on high gear ratios and elastic components …
range stiffness of actuators, which are based on high gear ratios and elastic components …
Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds
Background Autonomous exoskeletons will need to be useful at a variety of walking speeds,
but it is unclear how optimal hip–knee–ankle exoskeleton assistance should change with …
but it is unclear how optimal hip–knee–ankle exoskeleton assistance should change with …
Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton
G Orekhov, Y Fang, CF Cuddeback… - … of neuroengineering and …, 2021 - Springer
Background Ankle exoskeletons can improve walking mechanics and energetics, but few
untethered devices have demonstrated improved performance and usability across a wide …
untethered devices have demonstrated improved performance and usability across a wide …
A lower limb exoskeleton with rigid and soft structure for loaded walking assistance
The loaded walking ability of people can be enhanced by lower limb exoskeleton. How to
avoid lower limb joint injuries while improving walking efficiency is a major challenge for …
avoid lower limb joint injuries while improving walking efficiency is a major challenge for …
A hinge-free, non-restrictive, lightweight tethered exosuit for knee extension assistance during walking
EJ Park, T Akbas, A Eckert-Erdheim… - IEEE transactions on …, 2020 - ieeexplore.ieee.org
In individuals with motor impairments such as those post-stroke or with cerebral palsy, the
function of the knee extensors may be affected during walking, resulting in decreased …
function of the knee extensors may be affected during walking, resulting in decreased …
Mechanics of walking and running up and downhill: A joint-level perspective to guide design of lower-limb exoskeletons
Lower-limb wearable robotic devices can improve clinical gait and reduce energetic
demand in healthy populations. To help enable real-world use, we sought to examine how …
demand in healthy populations. To help enable real-world use, we sought to examine how …
Enhancing voluntary motion with modular, backdrivable, powered hip and knee orthoses
Mobility disabilities are prominent in society with wide-ranging deficits, motivating modular,
partial-assist, lower-limb exoskeletons for this heterogeneous population. This letter …
partial-assist, lower-limb exoskeletons for this heterogeneous population. This letter …