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

Development of the Limb Synovial Joints01:07

Development of the Limb Synovial Joints

1.4K
Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
1.4K
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

488
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
488
Movement Joints in Buildings01:27

Movement Joints in Buildings

117
Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
The simplest type of movement joints, working joints, are...
117
Muscle Coordination and Action01:24

Muscle Coordination and Action

1.5K
Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....
1.5K
Knee Joint01:23

Knee Joint

1.8K
The knee joint is the most complicated joint in the body. It consists of three articulations– two tibiofemoral and one patellofemoral. As is characteristic of synovial joints, the knee joint has a thin articular capsule that partially surrounds this joint cavity. Additionally, several ligaments, muscles, and cartilaginous structures support the movement of the knee.
A total of seven ligaments support the knee joint. The patellar ligament, which is also attached to the quadriceps femoris...
1.8K
Ankle Joint01:10

Ankle Joint

1.6K
The ankle is formed by the talocrural joint (crural = leg). It consists of the articulations between the talus bone of the foot and the distal ends of the tibia and fibula of the leg. The superior aspect of the talus bone is square-shaped and has three areas of articulation. The top of the talus articulates with the inferior tibia. This is the portion of the ankle joint that carries the body weight between the leg and foot. The sides of the talus are firmly held in position by the articulations...
1.6K

You might also read

Related Articles

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

Sort by
Same author

Paretic limb biomechanical response to hip exoskeleton limb assistance strategies during walking for individuals post-stroke.

Journal of biomechanics·2026
Same author

Deep domain adaptation eliminates costly data required for task-agnostic wearable robotic control.

Science robotics·2025
Same author

Robotic Ankle Exoskeleton and Limb Angle Biofeedback for Assisting Stroke Gait: A Feasibility Study.

IEEE robotics and automation letters·2025
Same author

Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025
Same author

Machine Learning Enables Rapid Detection of Slips Using a Robotic Hip Exoskeleton.

IEEE transactions on medical robotics and bionics·2025
Same author

The Second Skin: A Wearable Sensor Suite That Enables Real-Time Human Biomechanics Tracking Through Deep Learning.

IEEE transactions on bio-medical engineering·2025

Related Experiment Video

Updated: Jun 30, 2025

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.5K

Estimating human joint moments unifies exoskeleton control, reducing user effort.

Dean D Molinaro1,2, Inseung Kang3, Aaron J Young1,2

  • 1George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA.

Science Robotics
|March 20, 2024
PubMed
Summary

This study introduces a unified robotic exoskeleton control framework that uses a temporal convolutional network (TCN) to adapt assistance for enhanced human mobility. The system significantly reduced metabolic cost, making advanced exoskeleton technology more accessible for real-world use.

More Related Videos

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
06:44

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

7.0K
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

16.8K

Related Experiment Videos

Last Updated: Jun 30, 2025

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.5K
Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
06:44

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

Published on: May 20, 2020

7.0K
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

16.8K

Area of Science:

  • Robotics
  • Biomechanics
  • Machine Learning

Background:

  • Current robotic lower-limb exoskeletons face challenges in real-world application due to context-specific control requirements.
  • A need exists for adaptable and user-independent control systems to improve exoskeleton viability.

Purpose of the Study:

  • To present a unified exoskeleton control framework that autonomously adapts assistance based on real-time user biomechanics.
  • To evaluate the performance of a temporal convolutional network (TCN) for estimating user joint moments.
  • To assess the impact of the unified controller on user metabolic cost and biomechanical effort.

Main Methods:

  • Developed a unified control framework for a hip exoskeleton utilizing a temporal convolutional network (TCN).
  • The TCN estimated instantaneous user joint moments to provide adaptive assistance.
  • Evaluated the system's accuracy across 35 ambulatory conditions without user-specific calibration.
  • Measured user metabolic cost and lower-limb positive work during level-ground and incline walking.

Main Results:

  • The TCN achieved a low average root mean square error (0.142 Nm/kg) in joint moment estimation across diverse conditions.
  • The unified controller significantly reduced user metabolic cost during walking.
  • Lower-limb positive work was significantly decreased with the exoskeleton assistance.
  • The system demonstrated effective performance without requiring user-specific calibration.

Conclusions:

  • The developed unified control framework and TCN-based estimation provide a robust solution for adaptive exoskeleton assistance.
  • This technology significantly enhances user mobility and reduces physical exertion, bridging the gap between lab research and practical application.
  • The findings indicate that this approach can make advanced exoskeleton control viable for a wider user community.