ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2020
Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton with High Backdrivability and High Bandwidth.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 28 papers, 1 of them a synthesis that pooled it.
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
28 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Assessing Transparency of Robots, Exoskeletons, and Assistive Devices: A Systematic Review.Sensors (Basel, Switzerland) · 2025Pooled it
- PositiveAssist: Energy-Gated Control for Positive Power Assistance of Exoskeleton in Walking, Running, and Stair Climbing.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2026Article
- Comparative Analysis of High-Torque-Density Permanent Magnet Motors Having Similar Slot and Pole Numbers for Humanoid Robot Applications.Biomimetics (Basel, Switzerland) · 2026Article
- Task-Dependent Effectiveness of a Quasi-Direct-Drive Upper-Limb Exoskeleton: Shoulder Muscle Offloading Versus Metabolic Cost in Overhead Work.Bioengineering (Basel, Switzerland) · 2026Article
- Robust neural network controller for a lower limb exoskeleton with minimal sensor configuration: a deep reinforcement learning approach with policy distillation.Journal of neuroengineering and rehabilitation · 2025Article
- Compact and Foldable Hip Exoskeleton With High Torque Density Actuator for Walking and Stair-Climbing Assistance in Young and Older Adults.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2025Article
- A Survey on Design and Control Methodologies of High- Torque-Density Joints for Compliant Lower-Limb Exoskeleton.Sensors (Basel, Switzerland) · 2025Review
- Controlling Negative and Positive Power for Efficiency Enhancement and Muscle Strain Mitigation During Squatting with a Portable Knee Exoskeleton.Annals of biomedical engineering · 2025Article
- Biomechanics-Informed Mechatronics Design of Comfort-Centered Portable Hip Exoskeleton: Actuator, Wearable Interface, Controller.IEEE transactions on medical robotics and bionics · 2025Article
- A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- ChMER: an exoskeleton robot with active body weight support walker based on compliant actuation for children with cerebral palsy.Frontiers in bioengineering and biotechnology · 2025Article
- A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2024Article
- TheraDyad: Feasibility of an Affordable Robot for Multi-User Stroke Rehabilitation.Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics · 2024Article
- Sensorless model-based tension control for a cable-driven exosuit.Wearable technologies · 2024Article
- The effect of hip exoskeleton weight on kinematics, kinetics, and electromyography during human walking.Journal of biomechanics · 2023Article
- Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance For Agile Activities.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2022Article
- Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses.IEEE robotics and automation letters · 2022Article
- Modeling and Stiffness-based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2022Article
- Sensors and Actuation Technologies in Exoskeletons: A Review.Sensors (Basel, Switzerland) · 2022Review
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
8 authors.
Funding
Abstract
High-performance actuators are crucial to enable mechanical versatility of wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of-the-art actuators, e.g., series elastic actuators (SEAs), have to compromise bandwidth to improve compliance (i.e., backdrivability). We describe the design and human-robot interaction modeling of a portable hip exoskeleton based on our custom quasi-direct drive (QDD) actuation (i.e., a high torque density motor with low ratio gear). We also present a model-based performance benchmark comparison of representative actuators in terms of torque capability, control bandwidth, backdrivability, and force tracking accuracy. This paper aims to corroborate the underlying philosophy of "design for control", namely meticulous robot design can simplify control algorithms while ensuring high performance. Following this idea, we create a lightweight bilateral hip exoskeleton to reduce joint loadings during normal activities, including walking and squatting. Experiments indicate that the exoskeleton is able to produce high nominal torque (17.5 Nm), high backdrivability (0.4 Nm backdrive torque), high bandwidth (62.4 Hz), and high control accuracy (1.09 Nm root mean square tracking error, 5.4% of the desired peak torque). Its controller is versatile to assist walking at different speeds and squatting. This work demonstrates performance improvement compared with state-of-the-art exoskeletons.
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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.