ArticleSensors (Basel, Switzerland)2020
A Kinematic Model of a Humanoid Lower Limb Exoskeleton with Hydraulic Actuators.
Article in Sensors (Basel, Switzerland), 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 20 papers.
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Who cites it
20 citing papers in PubMed, 59 citations in OpenAlex.
- A dataset of optical camera and IMU sensor derived kinematics of thirty transtibial prosthesis wearers.Scientific data · 2024Article
- Cardioid oscillator-based pattern generator for imitating the time-ratio-asymmetrical behavior of the lower limb exoskeleton.Frontiers in neurorobotics · 2024Article
- Towards Human-like Walking with Biomechanical and Neuromuscular Control Features: Personalized Attachment Point Optimization Method of Cable-Driven Exoskeleton.Frontiers in aging neuroscience · 2024Article
- Exo Supportive Devices: Summary of Technical Aspects.Bioengineering (Basel, Switzerland) · 2023Review
- Validity and Reliability of Inertial Measurement Unit (IMU)-Derived 3D Joint Kinematics in Persons Wearing Transtibial Prosthesis.Sensors (Basel, Switzerland) · 2023Article
- Sensor-Driven Human-Robot Synergy: A Systems Engineering Approach.Sensors (Basel, Switzerland) · 2022Article
- Cutoff Point of Mini-Balance Evaluation Systems Test Scores for Elderly Estimated by Center of Pressure Measurements by Linear Regression and Decision Tree Classification.Life (Basel, Switzerland) · 2022Article
- Spatio-Temporal Calibration of Multiple Kinect Cameras Using 3D Human Pose.Sensors (Basel, Switzerland) · 2022Article
- sEMG-Based Gain-Tuned Compliance Control for the Lower Limb Rehabilitation Robot during Passive Training.Sensors (Basel, Switzerland) · 2022Article
- Experimental Analysis of Handcart Pushing and Pulling Safety in an Industrial Environment by Using IoT Force and EMG Sensors: Relationship with Operators' Psychological Status and Pain Syndromes.Sensors (Basel, Switzerland) · 2022Article
- Estimation of Foot Trajectory and Stride Length during Level Ground Running Using Foot-Mounted Inertial Measurement Units.Sensors (Basel, Switzerland) · 2022Article
- High Precision Classification of Resting and Eating Behaviors of Cattle by Using a Collar-Fitted Triaxial Accelerometer Sensor.Sensors (Basel, Switzerland) · 2022Article
- Predictors of Step Length from Surface Electromyography and Body Impedance Analysis Parameters.Sensors (Basel, Switzerland) · 2022Article
- Three-Dimensional Lower-Limb Kinematics from Accelerometers and Gyroscopes with Simple and Minimal Functional Calibration Tasks: Validation on Asymptomatic Participants.Sensors (Basel, Switzerland) · 2022Article
- Predictive Control of the Mobile Robot under the Deep Long-Short Term Memory Neural Network Model.Computational intelligence and neuroscience · 2022Article
- Drawing Direction Effect on a Task's Performance Characteristics among People with Essential Tremor.Sensors (Basel, Switzerland) · 2021Article
- Generation of Gait Events with a FSR Based Cane Handle.Sensors (Basel, Switzerland) · 2021Article
- Control System Design of an Underactuated Dynamic Body Weight Support System Using Its Stability.Sensors (Basel, Switzerland) · 2021Article
- Dynamic Model of a Humanoid Exoskeleton of a Lower Limb with Hydraulic Actuators.Sensors (Basel, Switzerland) · 2021Article
- Improved Single Inertial-Sensor-Based Attitude Estimation during Walking Using Velocity-Aided Observation.Sensors (Basel, Switzerland) · 2021Article
Corrections and comments
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Authors and funding
4 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Although it is well-established that exoskeletons as robots attached to the extremities of the human body increase their strength, limited studies presented a computer and mathematical model of a human leg hydraulic exoskeleton based on anthropometric data. This study aimed to examine lower limb joint angles during walking and running by using Inertial Measurement Units. The geometry and kinematic parameters were calculated. Twenty-six healthy adults participated in walking and running experiments. The geometric model of a human leg hydraulic exoskeleton was presented. Joint angle data acquired during experiments were used in the mathematical model. The position and velocity of exoskeleton actuators in each phase of movement were calculated using the MATLAB package (Matlab_R2017b, The MathWorks Company, Novi, MI, USA). The highest velocity of the knee actuator during walking and running was in the swing phase, 0.3 and 0.4 m/s, respectively. For the ankle and hip joints, the highest velocity of actuators occurred during the push-off phase. The results with 26 healthy subjects demonstrated that the system's compliance can be effectively adjusted while guiding the subjects walking in predefined trajectories. The developed mathematical model makes it possible to determine the position of lower limb segments and exoskeleton elements. The proposed model allows for calculating the position of the human leg and actuators' characteristic points.
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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.