Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Videos

Template model inspired leg force feedback based control can assist human walking.

Guoping Zhao, Maziar Sharbafi, Mark Vlutters

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 18, 2017
    PubMed
    Summary
    This summary is machine-generated.

    Related Concept Videos

    You might also read

    Related Articles

    Articles linked to this work by shared authors, journal, and citation graph.

    Sort by
    Same author

    Adaptive Biarticular Exosuit Assistance for Faster and More Efficient Walking.

    IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2026
    Same author

    Concerted control framework for human-exoskeleton co-adaptation using ground reaction forces.

    Wearable technologies·2026
    Same author

    Unified three-dimensional bipedal locomotion control via ground reaction force-based joint compliance modulation.

    Journal of the Royal Society, Interface·2026
    Same author

    User preference-based human-in-the-loop tuning of exoskeleton assistance during walking.

    npj biomedical innovations·2026
    Same author

    ApoA1 and ApoB Are Associated with Fracture Risk in Patients with Type 1 Diabetes.

    Journal of clinical medicine·2026
    Same author

    Simulating Muscle-Level Energetic Cost When Humans Walk With a Passive Biarticular Thigh Exosuit.

    IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2026
    Same journal

    Exploring Synergy Between Tactile Perception and Arm Usage.

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2025
    Same journal

    Multi-Modal Muscle Activation Modeling Using Koopman Operator Linearization for an Ankle Exoskeleton.

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2025
    Same journal

    Unsupervised Robot-Assisted Therapy at Home After Stroke: a Pilot Feasibility Study.

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2025
    Same journal

    Optimizing Senior Living with Robots: A User Study on Social and Architectural Integration.

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2025
    Same journal

    Effects of Exoskeletons on Error Between Marker and Markerless Motion Capture in Children With Crouch Gait: A Pilot Study.

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2025
    Same journal

    Recovr Glove: Accessible Hand Exoskeleton for Stroke Rehabilitation and Everyday Aid.

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2025
    See all related articles

    This study introduces a new controller for lower-extremity exoskeletons using a virtual pivot point (VPP) model. The VPP controller effectively assists walking by reducing muscle activation and metabolic cost in users.

    Area of Science:

    • Robotics
    • Biomechanics
    • Assistive Technology

    Background:

    • Lower-extremity exoskeletons require advanced control strategies for effective human assistance.
    • The virtual pivot point (VPP) template model shows promise in replicating human-like joint torques and stabilizing the trunk during walking.

    Purpose of the Study:

    • To implement and evaluate a novel virtual pivot point (VPP) template model-inspired controller for lower-extremity exoskeletons.
    • To assess the controller's effectiveness in assisting human walking by measuring muscle activity and metabolic cost.

    Main Methods:

    • A virtual pivot point (VPP) template model-inspired leg force feedback controller was implemented on the LOPES II exoskeleton.
    • Pilot experiments with four healthy subjects measured joint kinematics, electromyography (EMG) of leg muscles, and metabolic cost during walking with and without the controller.

    Related Experiment Videos

  • The controller provided hip and knee torque assistance during the stance phase of walking.

    • Main Results:

    • The VPP-inspired controller reduced leg muscle activations, notably the medial gastrocnemius (approx. 16.0%) at 0.6 m/s walking speed.
    • Hip and knee joint kinematics remained comparable to unassisted walking.
    • A 10% reduction in net metabolic cost was observed during assisted walking.

    Conclusions:

    • This study demonstrates the walking assistance benefits of the VPP template model for the first time.
    • The controller, utilizing leg force feedback for hip and knee joint control, offers a viable framework for future walking assistance research.
    • The VPP controller effectively supports human walking, reducing physiological effort and muscle strain.