Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a
large range of control methods. The goal of this paper is to review and classify these control …

Lower-limb robotic exoskeletons have become powerful tools to assist or rehabilitate the gait
of subjects with impaired walking, even when they are designed to act only partially over the …

Misalignments between powered exoskeleton joints and the user's anatomical joints are
inevitable due to difficulty locating the anatomical joint axis, non-constant location of the …

Above-knee amputation severely reduces the mobility and quality of life of millions of
individuals. Walking with available leg prostheses is highly inefficient, and poor walking …

Powered exoskeletons need actuators that can generate substantial assistive torque and
orthoses that can efficiently transfer the assistive torque to the user. Powered exoskeletons …

Current supervised learning or deep learning-based activity recognition classifiers can
achieve high accuracy in recognizing locomotion activities. Most available techniques use a …

For a lower limb exoskeleton, accurate and continuous estimation of the gait phase in real
time is a fundamental requirement to provide a well-tailored assistive action at the proper …

Robotic exoskeletons can assist humans with walking by providing supplemental torque in
proportion to the user's joint torque. Electromyographic (EMG) control algorithms can …

Objective: A unilateral, lightweight powered hip exoskeleton has been shown to improve
walking economy in individuals with above-knee amputations. However, the mechanism …

To overcome the different requirements of torque-velocity characteristics for walking,
running, stand-to-sit, sit-to-stand, and climbing stairs, we propose a novel concept for …