ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2022
Modeling and Stiffness-based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 18 papers.
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Who cites it
18 citing papers in PubMed, 79 citations in OpenAlex.
- An Underactuated Hip Exoskeleton to Assist Hip Joints Driven by a Single-Series Elastic Actuator.Biomimetics (Basel, Switzerland) · 2026Article
- Adaptive intelligent controller for a lower limb rehabilitation robot using QAOA-based online membership optimization.Scientific reports · 2026Article
- Simplifying rehabilitation control of lower-limb exoskeletons in five ambulation modes via dataset-driven state-machine calibration.Journal of neuroengineering and rehabilitation · 2026Article
- A Single-Source Dual-Drive Flexible Knee Assistive Exoskeleton for Elderly Daily Locomotion.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Lower limb exoskeletons for older adults: key assistance parameters and evaluation of ankle assistive strategies via musculoskeletal modelling.Frontiers in sports and active living · 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
- Research on the Design and Control Method of Robotic Flexible Magneto-Rheological Actuator.Sensors (Basel, Switzerland) · 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
- AI-driven universal lower-limb exoskeleton system for community ambulation.Science advances · 2024Article
- 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
- Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons with Task/Gait Classification.IEEE robotics and automation letters · 2024Article
- Optimization of Torque-Control Model for Quasi-Direct-Drive Knee Exoskeleton Robots Based on Regression Forecasting.Sensors (Basel, Switzerland) · 2024Article
- Article
- Bio-inspired design of a self-aligning, lightweight, and highly-compliant cable-driven knee exoskeleton.Frontiers in human neuroscience · 2022Article
- Combining neural stimulation and a powered exoskeletal knee to enhance walking after stroke.Journal of rehabilitation and assistive technologies engineeringArticle
Corrections and comments
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Authors and funding
10 authors at 4 institutions in 2 countries.
Funding
Abstract
State-of-the-art exoskeletons are typically limited by low control bandwidth and small range stiffness of actuators which are based on high gear ratios and elastic components (e.g., series elastic actuators). Furthermore, most exoskeletons are based on discrete gait phase detection and/or discrete stiffness control resulting in discontinuous torque profiles. To fill these two gaps, we developed a portable lightweight knee exoskeleton using quasi-direct drive (QDD) actuation that provides 14 Nm torque (36.8% biological joint moment for overground walking). This paper presents 1) stiffness modeling of torque-controlled QDD exoskeletons and 2) stiffness-based continuous torque controller that estimates knee joint moment in real-time. Experimental tests found the exoskeleton had high bandwidth of stiffness control (16 Hz under 100 Nm/rad) and high torque tracking accuracy with 0.34 Nm Root Mean Square (RMS) error (6.22%) across 0-350 Nm/rad large range stiffness. The continuous controller was able to estimate knee moments accurately and smoothly for three walking speeds and their transitions. Experimental results with 8 able-bodied subjects demonstrated that our exoskeleton was able to reduce the muscle activities of all 8 measured knee and ankle muscles by 8.60%-15.22% relative to unpowered condition, and two knee flexors and one ankle plantar flexor by 1.92%-10.24% relative to baseline (no exoskeleton) condition.
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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.