ArticleIEEE transactions on medical robotics and bionics2025
Biomechanics-Informed Mechatronics Design of Comfort-Centered Portable Hip Exoskeleton: Actuator, Wearable Interface, Controller.
Article in IEEE transactions on medical robotics and bionics, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- PositiveAssist: Energy-Gated Control for Positive Power Assistance of Exoskeleton in Walking, Running, and Stair Climbing.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2026Article
- Robust neural network controller for a lower limb exoskeleton with minimal sensor configuration: a deep reinforcement learning approach with policy distillation.Journal of neuroengineering and rehabilitation · 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
Corrections and comments
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Authors and funding
8 authors.
Funding
Abstract
Exoskeletons can improve human mobility, but discomfort remains a significant barrier to their widespread adoption. This paper presents a comfort-centered mechatronics design of portable hip exoskeletons, comprising of three factors: (i) actuation, (ii) wearable interface, (iii) and assistive controller. We introduced an analytical multibody model to predict the human-exoskeleton contact forces during gait. Informed by this model, we designed a wearable interface that significantly improved the three considered objective metrics: (i) undesired contact forces at the wearable interface, (ii) wobbling, and (iii) metabolic reduction, and also the post-test evaluation via a System Usability Scale questionnaire as a subjective metric. Our experiments with two exoskeleton controllers (gait-based and reinforcement learning-based) demonstrated that the design of the wearable physical interface has a greater impact on reducing metabolic rate and minimizing wobbling than the choice of controller. Our actuation design method leads to highly backdrivable, lightweight quasi-direct drive actuators with high torque tracking performance. By leveraging this wearable design, we achieved up to 60% reduction in undesired contact forces, and a 74% reduction in exoskeleton wobbling in the frontal axis compared to a traditional configuration. Additionally, the net metabolic cost reduction was 18% compared to the no exoskeleton condition.
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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.