ArticleIEEE robotics and automation letters2024
Dynamic Duo: Design and Validation of an Autonomous Frontal and Sagittal Actuating Hip Exoskeleton for Balance Modulation During Perturbed Locomotion.
Article in IEEE robotics and automation letters, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed.
- Above-Knee Amputees' Balance and Recovery Strategies After Mediolateral Perturbations from a Cable-Driven System.Annals of biomedical engineering · 2026Article
- Exoskeleton frontal and sagittal plane hip torque improves propulsion and transient stability during walking in individuals with hemiparesis.Journal of neuroengineering and rehabilitation · 2026Article
- 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
- Control Method in Coordinated Balance with the Human Body for Lower-Limb Exoskeleton Rehabilitation Robots.Biomimetics (Basel, Switzerland) · 2025Article
- A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Understanding the perspectives of older adults and physiotherapists on home-based lower-limb exoskeletons.Wearable technologies · 2025Article
- Assisting Standing Balance Recovery for Parkinson's Patients with a Lower-Extremity Exoskeleton Robot.Sensors (Basel, Switzerland) · 2024Article
- Balance recovery schemes following mediolateral gyroscopic moment perturbations during walking.PloS one · 2024Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Humans are required to maintain balance during locomotion in challenging environments, which present an even bigger challenge for individuals with balance impairments. Exoskeleton-driven balance augmentation is a promising avenue to assist users in these environments, but there has been little work in developing exoskeleton devices for these applications. In this work, we present the design, realization, and validation of an autonomous robotic hip exoskeleton with frontal and sagittal actuation. This device contains four quasi-direct drive-actuated degrees of freedom, enabling both frontal and sagittal assistance at the hip joints. The device is relatively light-weight, weighing 7.76 kg, and low-profile in the frontal plane, enabling unimpeded arm swing of the user. We found that wearing the device did not change walking kinematics, validating that the design does not inhibit the user's natural motion. We validated the exoskeleton using a bilateral bang-bang controller that successfully modulated step width and length in all cardinal and ordinal directions (all p<0.001) during steady state and perturbed walking. We also found that step modulation capability is influenced by swing leg kinematics and perturbation context. Broadly, this work presents a lightweight, autonomous, powered exoskeleton that can be used to study control approaches for balance augmentation.
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