ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2023
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
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.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
5 citing papers in PubMed, 4 citations in OpenAlex.
- Optimizing Sensor and Data Selection on Lower Limbs via Deep Learning for Real-Time Human Activity Recognition.IEEE transactions on human-machine systems · 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
- A Task-Agnostic Hip Exoskeleton for Osteoarthritis Pain Relief: Energetic Control Across Activities of Daily Life.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- 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
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors at 2 institutions in 2 countries.
Funding
Abstract
Robotic ankle exoskeletons have been shown to reduce human effort during walking. However, existing ankle exoskeleton control approaches are limited in their ability to apply biomimetic torque across diverse tasks outside of the controlled lab environment. Energy shaping control can provide task-invariant assistance without estimating the user's state, classifying task, or reproducing pre-defined torque trajectories. In previous work, we showed that an optimally task-invariant energy shaping controller implemented on a knee-ankle exoskeleton reduced the effort of certain muscles for a range of tasks. In this paper, we extend this approach to the sensor suite available at the ankle and present its implementation on a commercially-available, bilateral ankle exoskeleton. An experiment with three healthy subjects walking on a circuit and on a treadmill showed that the controller can approximate biomimetic profiles for varying terrains and task transitions without classifying tasks or switching control modes.
Identifiers
What OpenQuestion holds
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.