6 accepted papers
Lower limb exoskeletons have shown great promise for enhancing mobility. Existing systems are limited by either excessive weight or insufficient torque output. In this study, we present a cable-driven hip extension exoskeleton featuring lightweight, compact, and compliant end-effectors with high-tor
Cable-driven exoskeletons face control challenges such as transmission latency and complex kinematics. In gait assistance, torque–position switching strategy can provide transparency and near-zero impedance, but its mode switching introduces discontinuities. Iterative-learning methods enhance tracki
Lower-limb exoskeletons can improve human mobility and endurance, especially for people with leg impairments. To minimize metabolic penalty and maximize assistance capacity, the design of the mobile exoskeleton needs to compromise between the system weight and actuation power. In the paper, we devel
With proper assistance, knee exoskeletons can benefit humans with impaired leg function. Prior studies found that misalignment between the knee and the exoskeleton may cause harm and undermine assistance performance. Self-aligning mechanisms can reduce misalignment but implementing them with a simpl
Lower-limb exoskeletons capable of comfortably applying high torques at high bandwidth can be used to probe the human neuromuscular system and assist gait. We designed and built two tethered ankle exoskeletons with strong lightweight frames, comfortable three-point contact with the leg, and series e…
Few comparisons have been performed across torque controllers for exoskeletons, and differences among devices have made interpretation difficult. In this study, we designed, developed and compared the torque-tracking performance of nine control methods, including variations on classical feedback con…