ArticleJournal of neuroengineering and rehabilitation2022
Assessing effects of exoskeleton misalignment on knee joint load during swing using an instrumented leg simulator.
Article in Journal of neuroengineering and rehabilitation, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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Who cites it
15 citing papers in PubMed, 50 citations in OpenAlex.
- Integrating the behavior of biological soft tissue into musculoskeletal simulation for the design of wearable assistive devices.Frontiers in human neuroscience · 2026Article
- Associated factors influencing pain and slower gait speed in older adults with knee osteoarthritis: a cross-sectional study.Frontiers in medicine · 2026Article
- Smart exoskeleton-assisted rehabilitation after fracture surgery: closed-loop control, personalized load management, and integrated telemonitoring.Frontiers in bioengineering and biotechnology · 2026Review
- Comparative Analysis of Robotic Assistive Devices on Paretic Knee Motion in Post-Stroke Patients: An IMU-Based Pilot Study.Journal of functional morphology and kinesiology · 2025Article
- Design and Validation of a Brain-Controlled Hip Exoskeleton for Assisted Gait Rehabilitation Training.Micromachines · 2025Article
- Research Status and Development Trend of Lower-Limb Squat-Assistant Wearable Devices.Biomimetics (Basel, Switzerland) · 2025Review
- Soft tissue can absorb surprising amounts of energy during knee exoskeleton use.Journal of the Royal Society, Interface · 2024Article
- The Design of the Dummy Arm: A Verification Tool for Arm Exoskeleton Development.Biomimetics (Basel, Switzerland) · 2024Article
- Bilateral tibial fractures associated with powered exoskeleton use in complete spinal cord injury - a case report & literature review.Spinal cord series and cases · 2024Review
- Human-Robot Joint Misalignment, Physical Interaction, and Gait Kinematic Assessment in Ankle-Foot Orthoses.Sensors (Basel, Switzerland) · 2023Article
- A Human Lower Limb Mechanical Phantom for the Testing of Knee Exoskeletons.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2023Article
- Review of adaptive control for stroke lower limb exoskeleton rehabilitation robot based on motion intention recognition.Frontiers in neurorobotics · 2023Review
- Ergonomic dual four-bar linkage knee exoskeleton for stair ascent assistance.Frontiers in robotics and AI · 2023Article
- Influence of Varied Load Assistance with Exoskeleton-Type Robotic Device on Gait Rehabilitation in Healthy Adult Men.International journal of environmental research and public health · 2022Article
- The Effect of Lower Limb Exoskeleton Alignment on Knee Rehabilitation Efficacy.Healthcare (Basel, Switzerland) · 2022Article
Corrections and comments
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundExoskeletons are working in parallel to the human body and can support human movement by exerting forces through cuffs or straps. They are prone to misalignments caused by simplified joint mechanics and incorrect fit or positioning. Those misalignments are a common safety concern as they can cause undesired interaction forces. However, the exact mechanisms and effects of misalignments on the joint load are not yet known. The aim of this study was therefore to investigate the influence of different directions and magnitudes of exoskeleton misalignment on the internal knee joint forces and torques of an artificial leg.
methodsAn instrumented leg simulator was used to quantify the changes in knee joint load during the swing phase caused by misalignments of a passive knee brace being manually flexed. This was achieved by an experimenter pulling on a rope attached to the distal end of the knee brace to create a flexion torque. The extension was not actuated but achieved through the weight of the instrumented leg simulator. The investigated types of misalignments are a rotation of the brace around the vertical axis and a translation in anteroposterior as well as proximal/distal direction.
resultsThe amount of misalignment had a significant effect on several directions of knee joint load in the instrumented leg simulator. In general, load on the knee joint increased with increasing misalignment. Specifically, stronger rotational misalignment led to higher forces in mediolateral direction in the knee joint as well as higher ab-/adduction, flexion and internal/external rotation torques. Stronger anteroposterior translational misalignment led to higher mediolateral knee forces as well as higher abduction and flexion/extension torques. Stronger proximal/distal translational misalignment led to higher posterior and tension/compression forces.
conclusionsMisalignments of a lower leg exoskeleton can increase internal knee forces and torques during swing to a multiple of those experienced in a well-aligned situation. Despite only taking swing into account, this is supporting the need for carefully considering hazards associated with not only translational but also rotational misalignments during wearable robot development and use. Also, this warrants investigation of misalignment effects in stance, as a target of many exoskeleton applications.
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