ArticleFrontiers in bioengineering and biotechnology2021
Human Weight Compensation With a Backdrivable Upper-Limb Exoskeleton: Identification and Control.
Article in Frontiers in bioengineering and biotechnology, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- Development of Wearable Heatstroke Warning System (HeatGuard): Design, Validation and Controlled-Environment Testing Among Triathletes.Sensors (Basel, Switzerland) · 2026Article
- How task-relevant vibratory feedback from an active exoskeleton can lead to ergonomic postures.Communications engineering · 2025Article
- Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton.Frontiers in robotics and AI · 2024Article
- Reoptimization of single-joint motor patterns to non-Earth gravity torques induced by a robotic exoskeleton.iScience · 2023Article
- The value of time in the invigoration of human movements when interacting with a robotic exoskeleton.Science advances · 2023Article
- A Trade-Off between Complexity and Interaction Quality for Upper Limb Exoskeleton Interfaces.Sensors (Basel, Switzerland) · 2023Article
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Authors and funding
5 authors.
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Abstract
Active exoskeletons are promising devices for improving rehabilitation procedures in patients and preventing musculoskeletal disorders in workers. In particular, exoskeletons implementing human limb's weight support are interesting to restore some mobility in patients with muscle weakness and help in occupational load carrying tasks. The present study aims at improving weight support of the upper limb by providing a weight model considering joint misalignments and a control law including feedforward terms learned from a prior population-based analysis. Three experiments, for design and validation purposes, are conducted on a total of 65 participants who performed posture maintenance and elbow flexion/extension movements. The introduction of joint misalignments in the weight support model significantly reduced the model errors, in terms of weight estimation, and enhanced the estimation reliability. The introduced control architecture reduced model tracking errors regardless of the condition. Weight support significantly decreased the activity of antigravity muscles, as expected, but increased the activity of elbow extensors because gravity is usually exploited by humans to accelerate a limb downwards. These findings suggest that an adaptive weight support controller could be envisioned to further minimize human effort in certain applications.
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Registered trials
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