ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2023
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2023. 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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Who cites it
23 citing papers in PubMed.
- Embedded Adaptive Admittance Control for a Modular Hip Exoskeleton Using Deep Learning-Based Gait-Phase Estimation.Sensors (Basel, Switzerland) · 2026Article
- Diff-MomentFormer: Generative Diffusion-Augmented Transformer for End-to-End Joint Moment Estimation.Sensors (Basel, Switzerland) · 2026Article
- Synthetic Data-Driven Exoskeleton Control via Contralateral Gait Fusion for Variable-Speed Walking.Biomimetics (Basel, Switzerland) · 2026Article
- Optimization of Exoskeleton Assistance Function Based on Physics-Guided Dynamic Fusion Model.Bioengineering (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
- Abnormal Gait Phase Recognition and Limb Angle Prediction in Lower-Limb Exoskeletons.Biomimetics (Basel, Switzerland) · 2025Article
- A Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Mode-Unified Intent Estimation of a Robotic Prosthesis using Deep-Learning.IEEE robotics and automation letters · 2025Article
- Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Level-Ground and Stair Adaptation for Hip Exoskeletons Based on Continuous Locomotion Mode Perception.Cyborg and bionic systems (Washington, D.C.) · 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
- Article
- Continuous Gait Phase Estimation for Multi-Locomotion Tasks Using Ground Reaction Force Data.Sensors (Basel, Switzerland) · 2024Article
- A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks.Science robotics · 2024Article
- Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons with Task/Gait Classification.IEEE robotics and automation letters · 2024Article
- IMU-Based Real-Time Estimation of Gait Phase Using Multi-Resolution Neural Networks.Sensors (Basel, Switzerland) · 2024Article
- Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots.IEEE robotics and automation letters · 2024Article
- Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons.Wearable technologies · 2024Article
- Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
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Authors and funding
5 authors.
Funding
Abstract
Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase progression change in real-world environments. This paper presents a controller for an ankle exoskeleton that uses a data-driven kinematic model to continuously estimate the phase, phase rate, stride length, and ground incline states during locomotion, which enables the real-time adaptation of torque assistance to match human torques observed in a multi-activity database of 10 able-bodied subjects. We demonstrate in live experiments with a new cohort of 10 able-bodied participants that the controller yields phase estimates comparable to the state of the art, while also estimating task variables with similar accuracy to recent machine learning approaches. The implemented controller successfully adapts its assistance in response to changing phase and task variables, both during controlled treadmill trials (N=10, phase RMSE: 4.8 ± 2.4%) and a real-world stress test with extremely uneven terrain (N=1, phase RMSE: 4.8 ± 2.7%).
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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.