ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2021
Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 23 papers, 1 of them a synthesis that pooled it.
What it found
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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.
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Who cites it
23 citing papers in PubMed, 1 synthesis or guideline pooled it, 78 citations in OpenAlex.
- Control strategies used in lower limb exoskeletons for gait rehabilitation after brain injury: a systematic review and analysis of clinical effectiveness.Journal of neuroengineering and rehabilitation · 2023Pooled it
- A Survey on Design and Control Methodologies of High- Torque-Density Joints for Compliant Lower-Limb Exoskeleton.Sensors (Basel, Switzerland) · 2025Review
- Powered knee exoskeleton improves sit-to-stand transitions in stroke patients using electromyographic control.Communications engineering · 2025Article
- Controlling Negative and Positive Power for Efficiency Enhancement and Muscle Strain Mitigation During Squatting with a Portable Knee Exoskeleton.Annals of biomedical engineering · 2025Article
- Human-Interface Dynamics of Knee Exoskeletons with Lateral and Anteroposterior Attachment.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- A Task-Agnostic Knee Exoskeleton for Reducing Osteoarthritis Pain Across Activities of Daily Life: A Pilot Study.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Effects of an active ankle exoskeleton on the walking biomechanics of healthy men.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
- A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks.Science robotics · 2024Article
- Design and Validation of a Modular, Backdrivable Ankle Exoskeleton.Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics · 2024Article
- Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons with Task/Gait Classification.IEEE robotics and automation letters · 2024Article
- Hip Exoskeleton for Cycling Assistance.Bioengineering (Basel, Switzerland) · 2024Article
- Exploring Human-Exoskeleton Interaction Dynamics: An In-Depth Analysis of Knee Flexion-Extension Performance across Varied Robot Assistance-Resistance Configurations.Sensors (Basel, Switzerland) · 2024Article
- Advances in active knee brace technology: A review of gait analysis, actuation, and control applications.Heliyon · 2024Article
- Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
- Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations.IEEE robotics and automation letters · 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
- Can humans perceive the metabolic benefit provided by augmentative exoskeletons?Journal of neuroengineering and rehabilitation · 2022Article
- Bio-inspired design of a self-aligning, lightweight, and highly-compliant cable-driven knee exoskeleton.Frontiers in human neuroscience · 2022Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
5 authors at 2 institutions in 1 country.
Funding
Abstract
This paper presents the design and validation of a backdrivable powered knee orthosis for partial assistance of lower-limb musculature, which aims to facilitate daily activities in individuals with musculoskeletal disorders. The actuator design is guided by design principles that prioritize backdrivability, output torque, and compactness. First, we show that increasing the motor diameter while reducing the gear ratio for a fixed output torque ultimately reduces the reflected inertia (and thus backdrive torque). We also identify a tradeoff with actuator torque density that can be addressed by improving the motor's thermal environment, motivating our design of a custom Brushless DC motor with encapsulated windings. Finally, by designing a 7:1 planetary gearset directly into the stator, the actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9 Nm peak torque and 12.78 Nm continuous torque, yet has less than 2.68 Nm backdrive torque during walking conditions. Able-bodied human subjects experiments (N=3) demonstrate reduced quadriceps activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise.
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.