ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2025
Compact and Foldable Hip Exoskeleton With High Torque Density Actuator for Walking and Stair-Climbing Assistance in Young and Older Adults.
Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
What it found
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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.
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Who cites it
2 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
- Comparative Analysis of High-Torque-Density Permanent Magnet Motors Having Similar Slot and Pole Numbers for Humanoid Robot Applications.Biomimetics (Basel, Switzerland) · 2026Article
Corrections and comments
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Authors and funding
9 authors.
Funding
Abstract
Exoskeletons hold great potential to enhance human locomotion performance, but their development is often hindered by bulky, heavy, and obtrusive actuator and mechanism designs. Here, we present a compact and lightweight hip exoskeleton endowed with a custom high torque density actuator and two foldable mechanisms, namely foldable waist belt with self-alignment mechanism and foldable thigh brace with self-adjusting linear slider mechanism. Our model of actuator electromagnetic design considered four design parameters, including end winding length, stator teeth number, rotor pole pair number, and gear ratio that are tailored for portable exoskeletons. Two foldable mechanism enhanced exoskeleton adaptability and user comfort. Benchtop experimental results demonstrated that our actuator can provide an 18 N. m peak torque with a packaging factor improvement of 27% in contrast with state-of-the-art actuators used in exoskeletons. The volume of our exoskeleton was reduced by 55% and the weight was reduced from 3.7 to 2.7 kg compared to our prior design. Preliminary human experiments demonstrated the feasibility of our exoskeleton to reduce metabolic rate during walking and stair climbing for young and older adults.
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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.