ArticleIEEE robotics and automation letters2022
Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses.
Article in IEEE robotics and automation letters, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 23 papers.
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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.
- Advancing human sensorimotor research through modular robotics: the case of the HRX-1.Philosophical transactions of the Royal Society of London. Series B, Biological sciences · 2026Review
- An Intelligent Pressurized Thigh Band for Muscular Assistance and Multi-Mode Activity Recognition.Sensors (Basel, Switzerland) · 2026Article
- Optimal Energy Shaping and Force Amplification Framework for Task-Agnostic, Biomimetic Ankle Exoskeletons.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2026Article
- Task-Agnostic Exoskeleton Torque Assistance Reduces Ankle Osteoarthritis Pain: A Pilot Study.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
- Human-in-the-Loop Optimization of Hip Exoskeleton Assistance During Stair Climbing.IEEE transactions on bio-medical engineering · 2025Article
- Powered knee exoskeleton improves sit-to-stand transitions in stroke patients using electromyographic control.Communications 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
- A Task-Agnostic Hip Exoskeleton for Osteoarthritis Pain Relief: Energetic Control Across Activities of Daily Life.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Customizable Task-Agnostic Exoskeleton Control for Targeted Neuromuscular Assistance: Case Series.IEEE open journal of engineering in medicine and biology · 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
- Dynamic Duo: Design and Validation of an Autonomous Frontal and Sagittal Actuating Hip Exoskeleton for Balance Modulation During Perturbed Locomotion.IEEE robotics and automation letters · 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
- SensAA-Design and Verification of a Cloud-Based Wearable Biomechanical Data Acquisition System.Sensors (Basel, Switzerland) · 2024Article
- Opportunities and challenges in the development of exoskeletons for locomotor assistance.Nature biomedical engineering · 2023Review
- Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton.Proceedings of the ... American Control Conference. American Control Conference · 2023Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Mobility disabilities are prominent in society with wide-ranging deficits, motivating modular, partial-assist, lower-limb exoskeletons for this heterogeneous population. This paper introduces the Modular Backdrivable Lower-limb Unloading Exoskeleton (M-BLUE), which implements high torque, low mechanical impedance actuators on commercial orthoses with sheet metal modifications to produce a variety of hip- and/or knee-assisting configurations. Benchtop system identification verifies the desirable backdrive properties of the actuator, and allows for torque prediction within ±0.4 Nm. An able-bodied human subject experiment demonstrates that three unilateral configurations of M-BLUE (hip only, knee only, and hip-knee) with a simple gravity compensation controller can reduce muscle EMG readings in a lifting and lowering task relative to the bare condition. Reductions in mean muscular effort and peak muscle activation were seen across the primary squat musculature (excluding biceps femoris), demonstrating the potential to reduce fatigue leading to poor lifting posture. These promising results motivate applications of M-BLUE to additional populations, and the expansion of M-BLUE to bilateral and ankle configurations.
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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.