ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation
Design and Validation of a Torque Dense, Highly Backdrivable Powered Knee-Ankle Orthosis.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
12 citing papers in PubMed.
- Global research hotspots and trends of upper limb rehabilitation robots based on web of science database (2005-2025).Journal of robotic surgery · 2026Article
- Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2021Article
- Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton.Sensors (Basel, Switzerland) · 2021Article
- Differential Soft Sensor-Based Measurement of Interactive Force and Assistive Torque for a Robotic Hip Exoskeleton.Sensors (Basel, Switzerland) · 2021Article
- Robotic devices for paediatric rehabilitation: a review of design features.Biomedical engineering online · 2021Review
- Functional Evaluation of a Force Sensor-Controlled Upper-Limb Power-Assisted Exoskeleton with High Backdrivability.Sensors (Basel, Switzerland) · 2020Article
- Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2019Article
- On the Design and Control of Highly Backdrivable Lower-Limb Exoskeletons: A Discussion of Past and Ongoing Work.IEEE control systems · 2018Article
- Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2018Article
- Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2018Article
- Real-Time Continuous Gait Phase and Speed Estimation from a Single Sensor.Control Technology and Applications. Control Technology and Applications · 2017Article
- Towards Total Energy Shaping Control of Lower-Limb Exoskeletons.Proceedings of the ... American Control Conference. American Control Conference · 2017Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
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 actuator of the orthosis is designed with a torque dense motor and a custom low-ratio transmission (24:1) to provide mechanical transparency to the user, allowing them to actively contribute to their joint kinematics during gait training. The 4.88 kg orthosis utilizes frameless components and light materials, such as aluminum alloy and carbon fiber, to reduce its mass. A human subject experiment demonstrates accurate torque control with high output torque during stance and low backdrive torque during swing at fast walking speeds. This work shows that backdrivability, precise torque control, high torque output, and light weight can be achieved in a powered orthosis without the high cost and complexity of variable transmissions, clutches, and/or series elastic components.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.