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 Concept Videos

You might also read

Related Articles

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

Sort by
Same author

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot.

Sensors (Basel, Switzerland)·2023
Same author

A Haptic Shared Autonomy With Partial Orientation Regulation for DoF Deficiency in Remote Side.

IEEE transactions on haptics·2023
Same author

Making Bipedal Robot Experiments Reproducible and Comparable: The Eurobench Software Approach.

Frontiers in robotics and AI·2022
Same author

Horizon: A Trajectory Optimization Framework for Robotic Systems.

Frontiers in robotics and AI·2022
Same author

NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints.

Frontiers in robotics and AI·2021
Same author

Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots.

Frontiers in robotics and AI·2021

Related Experiment Video

Updated: Feb 24, 2026

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
09:46

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

Published on: June 16, 2016

21.5K

A novel human effort estimation method for knee assistive exoskeletons.

Lorenzo Saccares, Anais Brygo, Ioannis Sarakoglou

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 18, 2017
    PubMed
    Summary

    This study introduces a new method for estimating knee joint torques using minimal sensors, ideal for developing portable knee assistive devices. The system accurately estimates torques without needing upper body or payload information, enhancing user comfort and device practicality.

    More Related Videos

    Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
    08:08

    Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis

    Published on: May 8, 2014

    17.4K
    Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
    03:55

    Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

    Published on: October 27, 2023

    2.9K

    Related Experiment Videos

    Last Updated: Feb 24, 2026

    Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
    09:46

    Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

    Published on: June 16, 2016

    21.5K
    Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
    08:08

    Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis

    Published on: May 8, 2014

    17.4K
    Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs
    03:55

    Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

    Published on: October 27, 2023

    2.9K

    Area of Science:

    • Biomechanics
    • Robotics
    • Wearable Technology

    Background:

    • Accurate estimation of knee joint torques is crucial for developing effective knee assistive devices.
    • Existing methods often require extensive instrumentation, limiting wearability and portability.
    • Minimizing sensor requirements can significantly improve the user experience and practical application of assistive technologies.

    Purpose of the Study:

    • To present a novel, low-sensing method for online estimation of knee joint torques.
    • To enable the generation of reference signals for knee assistive devices.
    • To demonstrate a minimalistic and ergonomic sensory system for torque estimation.

    Main Methods:

    • The method relies on measuring ground reaction forces and torques at the feet.
    • It utilizes shank posture data and a shank biomechanical model to estimate knee torque.
    • An equilibrium condition is imposed on the user's shank for torque calculation, independent of upper body or payload data.

    Main Results:

    • The proposed method accurately estimates knee torques with reduced sensing requirements.
    • Experiments demonstrated effectiveness across various postures, motions (squat, foot contact changes), and payloads.
    • The system proved effective even with dynamic changes in the center of mass (CoM) of a payload.

    Conclusions:

    • A novel, low-sensing method for online knee torque estimation has been successfully developed.
    • The approach facilitates the creation of easily wearable and portable knee assistive devices.
    • This technique offers a practical solution for generating control signals in assistive robotics and rehabilitation.