ArticleFrontiers in robotics and AI2020
Human Lower Limb Joint Biomechanics in Daily Life Activities: A Literature Based Requirement Analysis for Anthropomorphic Robot Design.
Article in Frontiers in robotics and AI, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed.
- Energy-Efficient Motion Simulation of a Bioinspired Variable Stiffness Joint Emulating Elbow Function for Periodic Tasks.Biomimetics (Basel, Switzerland) · 2026Article
- User preference-based human-in-the-loop tuning of exoskeleton assistance during walking.npj biomedical innovations · 2026Article
- Changes in Dynamic Mean Ankle Moment Arm in Unimpaired Walking Across Speeds, Ramps, and Stairs.Journal of biomechanical engineering · 2024Article
- Unveiling human biomechanics: insights into lower limb responses to disturbances that can trigger a fall.Frontiers in robotics and AI · 2024Article
- Unilateral transtibial prosthesis users load their intact limb more than their prosthetic limb during sit-to-stand, squatting, and lifting.Clinical biomechanics (Bristol, Avon) · 2023Article
- Article
- Effects of hip osteoarthritis on lower body joint kinematics during locomotion tasks: a systematic review and meta-analysis.Frontiers in sports and active living · 2023Review
- An Analysis of Lower Limb Coordination Variability in Unilateral Tasks in Healthy Adults: A Possible Prognostic Tool.Frontiers in bioengineering and biotechnology · 2022Article
- Soft pneumatic elbow exoskeleton reduces the muscle activity, metabolic cost and fatigue during holding and carrying of loads.Scientific reports · 2021Article
- Lower limb joint biomechanics-based identification of gait transitions in between level walking and stair ambulation.PloS one · 2020Article
- Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and SystemsArticle
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Authors and funding
3 authors.
Funding
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Abstract
Daily human activity is characterized by a broad variety of movement tasks. This work summarizes the sagittal hip, knee, and ankle joint biomechanics for a broad range of daily movements, based on previously published literature, to identify requirements for robotic design. Maximum joint power, moment, angular velocity, and angular acceleration, as well as the movement-related range of motion and the mean absolute power were extracted, compared, and analyzed for essential and sportive movement tasks. We found that the full human range of motion is required to mimic human like performance and versatility. In general, sportive movements were found to exhibit the highest joint requirements in angular velocity, angular acceleration, moment, power, and mean absolute power. However, at the hip, essential movements, such as recovery, had comparable or even higher requirements. Further, we found that the moment and power demands were generally higher in stance, while the angular velocity and angular acceleration were mostly higher or equal in swing compared to stance for locomotion tasks. The extracted requirements provide a novel comprehensive overview that can help with the dimensioning of actuators enabling tailored assistance or rehabilitation for wearable lower limb robots, and to achieve essential, sportive or augmented performances that exceed natural human capabilities with humanoid robots.
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Registered trials
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