This letter presents design principles for comfort-centered wearable robots and their
application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort …

Knowledge of human-exoskeleton interaction forces is crucial to assess user comfort and
effectiveness of the interaction. The subject-exoskeleton collaborative movement and its …

Despite that various soft bending actuators have been presented in recent years, their
widespread application in knee assistive devices is still hindered by their uncomfortable …

Powered knee exoskeletons have shown potential for mobility restoration and power
augmentation. However, the benefits of exoskeletons are partially offset by some design …

This study focuses on a musculoskeletal analysis of human lower extremity and associated
muscle forces during different rehabilitative tasks and exoskeleton alignment models. By …

Purpose Enormous assistance is required during rehabilitation activities, which might result
in a variety of complications if performed manually. To solve this issue, several solutions in …

One of the primary reasons for wearable exoskeleton rejection is user discomfort caused by
misalignment between the coupled system, ie, the human limb and the exoskeleton. The …

This paper deals with the human-robot compatibility issue of upper-limb exoskeleton
through a dimensional synthesis problem. The work is a contribution to solving …

This paper proposes a novel bioinspired knee joint structure characterized by high torque
efficiency. After analyzing the experiment data of the knee joint, we found that there was the …

Wearable robots have shown great potential for augmenting the physical capabilities of
humans in lab settings. However, wearable robots for augmenting the physical capabilities …