ArticleFrontiers in neurorobotics2020
Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton.
Article in Frontiers in neurorobotics, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed, 62 citations in OpenAlex.
- Design and Performance Evaluation of Unpowered Hip-Assisted Exoskeletons.Biomimetics (Basel, Switzerland) · 2026Article
- Biomimetic Robotics and Sensing for Healthcare Applications and Rehabilitation: A Systematic Review.Biomimetics (Basel, Switzerland) · 2025Review
- Article
- A Critical Review on Factors Affecting the User Adoption of Wearable and Soft Robotics.Sensors (Basel, Switzerland) · 2023Review
- A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants.Frontiers in robotics and AI · 2023Article
- Evaluation of a machine-learning-driven active-passive upper-limb exoskeleton robot: Experimental human-in-the-loop study.Wearable technologies · 2023Article
- Quasi-passive lower limbs exosuit: an in-depth assessment of fatigue, kinematic and muscular patterns while comparing assistive strategies on an expert subject's gait analysis.Frontiers in neurorobotics · 2023Article
- Soft robotics towards sustainable development goals and climate actions.Frontiers in robotics and AI · 2023Article
- Soft Wearable Robots: Development Status and Technical Challenges.Sensors (Basel, Switzerland) · 2022Review
- A Wearable Lower Limb Exoskeleton: Reducing the Energy Cost of Human Movement.Micromachines · 2022Review
- Sensors and Actuation Technologies in Exoskeletons: A Review.Sensors (Basel, Switzerland) · 2022Review
- Assessment methodology for human-exoskeleton interactions: Kinetic analysis based on muscle activation.Frontiers in neurorobotics · 2022Article
- A Time Division Multiplexing Inspired Lightweight Soft Exoskeleton for Hip and Ankle Joint Assistance.Micromachines · 2021Article
- Equivalent Weight: Connecting Exoskeleton Effectiveness with Ergonomic Risk during Manual Material Handling.International journal of environmental research and public health · 2021Article
- Iterative Learning Control for a Soft Exoskeleton with Hip and Knee Joint Assistance.Sensors (Basel, Switzerland) · 2020Article
- Applicability of an Active Back-Support Exoskeleton to Carrying Activities.Frontiers in robotics and AI · 2020Article
Corrections and comments
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Authors and funding
12 authors at 7 institutions in 5 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio (Λ) between the exoskeleton and the assisted joint, was 26.6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle.
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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.