ArticleScience robotics2024
A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks.
Article in Science robotics, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed.
- Adaptation to a Whole-Body Powered Exoskeleton: Human-Exoskeleton Coordination During Load-Handling Tasks.Annals of biomedical engineering · 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
- Interaction-based rapid heuristic optimization of exoskeleton assistance during walking.Communications engineering · 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
- 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
- The perceptual and biomechanical effects of scaling back exosuit assistance to changing task demands.Scientific reports · 2025Article
- Customizable Task-Agnostic Exoskeleton Control for Targeted Neuromuscular Assistance: Case Series.IEEE open journal of engineering in medicine and biology · 2025Article
- The Design and Application of an Assistive Hip Joint Exoskeleton for Tower Climbing.Sensors (Basel, Switzerland) · 2024Article
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Authors and funding
5 authors.
Funding
Abstract
The quadriceps are particularly susceptible to fatigue during repetitive lifting, lowering, and carrying (LLC), affecting worker performance, posture, and ultimately lower-back injury risk. Although robotic exoskeletons have been developed and optimized for specific use cases like lifting-lowering, their controllers lack the versatility or customizability to target critical muscles across many fatiguing tasks. Here, we present a task-adaptive knee exoskeleton controller that automatically modulates virtual springs, dampers, and gravity and inertia compensation to assist squatting, level walking, and ramp and stairs ascent/descent. Unlike end-to-end neural networks, the controller is composed of predictable, bounded components with interpretable parameters that are amenable to data-driven optimization for biomimetic assistance and subsequent application-specific tuning, for example, maximizing quadriceps assistance over multiterrain LLC. When deployed on a backdrivable knee exoskeleton, the assistance torques holistically reduced quadriceps effort across multiterrain LLC tasks (significantly except for level walking) in 10 human users without user-specific calibration. The exoskeleton also significantly improved fatigue-induced deficits in time-based performance and posture during repetitive lifting-lowering. Last, the system facilitated seamless task transitions and garnered a high effectiveness rating postfatigue over a multiterrain circuit. These findings indicate that this versatile control framework can target critical muscles across multiple tasks, specifically mitigating quadriceps fatigue and its deleterious effects.
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