Benchmarks have long been used to verify and compare the readiness level of different
technologies in many application domains. In the field of wearable robots, the lack of a …

Children with physical disabilities often have limited performance in daily activities,
hindering their physical development, social development and mental health. Therefore …

Control systems for powered prosthetic legs typically divide the gait cycle into several
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …

This letter presents design principles for comfort-centered wearable robots and their
application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort …

Research on lower limb exoskeleton (LLE) for rehabilitation have developed rapidly to meet
the need of the population with neurologic injuries. LLEs for rehabilitation include …

Lower-limb exoskeletons are external mechanical structures that support and assist human
users during locomotion. The earliest studies on exoskeletons date back to the 1960s …

Back injuries are the most prevalent work-related musculoskeletal disorders and represent a
major cause of disability. Although innovations in wearable robots aim to alleviate this …

We present a novel application of the variable stiffness actuator (VSA)-based assistance/
rehabilitation robot-featured impedance control using a cascaded position torque control …

This article presents the design and validation of a backdrivable powered knee orthosis for
partial assistance of lower-limb musculature, which aims to facilitate daily activities in …

Lower-limb biomechatronic devices (ie, prostheses and exoskeletons) depend upon
onboard batteries to power wearable sensors, actuators, and microprocessors, therein …