ArticleFrontiers in human neuroscience2022
Bio-inspired design of a self-aligning, lightweight, and highly-compliant cable-driven knee exoskeleton.
Article in Frontiers in human neuroscience, 2022. 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, 17 citations in OpenAlex.
- Noncircular rolling contact joints enable programmed behavior in robotic linkages.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- Controlling Negative and Positive Power for Efficiency Enhancement and Muscle Strain Mitigation During Squatting with a Portable Knee Exoskeleton.Annals of biomedical engineering · 2025Article
- Research Status and Development Trend of Lower-Limb Squat-Assistant Wearable Devices.Biomimetics (Basel, Switzerland) · 2025Review
- EMG-controlled knee orthosis lowers effort in sit-to-stand.Frontiers in robotics and AI · 2025Article
- Assistive Technology's Potential to Improve Employment of People with Disabilities.Journal of occupational rehabilitation · 2024Article
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Authors and funding
7 authors at 3 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Powered knee exoskeletons have shown potential for mobility restoration and power augmentation. However, the benefits of exoskeletons are partially offset by some design challenges that still limit their positive effects on people. Among them, joint misalignment is a critical aspect mostly because the human knee joint movement is not a fixed-axis rotation. In addition, remarkable mass and stiffness are also limitations. Aiming to minimize joint misalignment, this paper proposes a bio-inspired knee exoskeleton with a joint design that mimics the human knee joint. Moreover, to accomplish a lightweight and high compliance design, a high stiffness cable-tension amplification mechanism is leveraged. Simulation results indicate our design can reduce 49.3 and 71.9% maximum total misalignment for walking and deep squatting activities, respectively. Experiments indicate that the exoskeleton has high compliance (0.4 and 0.1 Nm backdrive torque under unpowered and zero-torque modes, respectively), high control bandwidth (44 Hz), and high control accuracy (1.1 Nm root mean square tracking error, corresponding to 7.3% of the peak torque). This work demonstrates performance improvement compared with state-of-the-art exoskeletons.
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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.