The RoboKnee: an exoskeleton for enhancing strength and endurance during walking

By Jerry E. Pratt, Benjamin T. Krupp, Christopher J. Morse, Steven H. Collins. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

635 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Physical Therapy, Sports Therapy and Rehabilitation

View Paper: https://www.semanticscholar.org/paper/5192fe66ac4697b136df75f1efdf44293681f997

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In Biomedical Engineering

In Physical Therapy, Sports Therapy and Rehabilitation

Citations in the corpus

A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human-Robot Interaction (2018, background): “[19], make use of ground reaction force sensing and lower-limb kinematics to estimate joint torques [35].”
Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2006, methodology): “Many control approaches have been used for different exoskeletons, such as zero-moment point control, myoelectric sensing, and force control [1,11-13].”
Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, methodology): “In [79] a control algorithm is presented: the actuated torque is a fraction of the propelling torque, obtained by multiplying the ground reaction force – estimated as the force compressing the linear SEA – with its knee axis moment arm – obtained from the knee brace joint position sensor and knowing”
A biologically inspired soft exosuit for walking assistance (2015, background): “These include exoskeletons that aim to help people walk while expending less energy (Kawamoto et al., 2003; Pratt et al., 2004; Ferris and Lewis, 2009; Sawicki and Ferris, 2009a,b; Strausser and Kazerooni, 2011), and those that assist with heavy lifting (Yamamoto et al., 2003; Wehner et al., 2009).”
Intention-based walking support for paraplegia patients with Robot Suit HAL (2007, background): “Keywords: Robot suit; paraplegia; walking support; intention estimation; floor reaction force.”
On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2005, background): “The “RoboKnee” is a powered knee brace that functions in parallel to the wearer’s knee and transfers load to the wearer’s ankle (not to the ground) [28].”
An improved powered ankle-foot orthosis using proportional myoelectric control. (2006, background): “The bivalve design and buckles on the shank section allowed the subject to put on or take off the orthosis in less than a minute.”
On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2005, methodology): “Many control approaches have been used for different exoskeletons, such as zero-moment point control, myoelectric sensing, and force control [1,11-13].”
A Human--Exoskeleton Interface Utilizing Electromyography (2008, background): “In other projects the exoskeletons add fixed shares of the torque that is required to maintain a static pose with the current joint configuration in [6], [16].”
A lightweight soft exosuit for gait assistance (2013, background): “In particular, considerable work has been conducted in the area of active exoskeletons for augmenting load carriage capacity [10-14].”
Wearable soft sensing suit for human gait measurement (2014, background): “We have seen an evolution from rigid exoskeletons with rigid actuators (Yagn, 1890; Makinson, 1971; Kawamoto et al., 2003; Pratt et al., 2004; Guizzo and Goldstein, 2005; Kazerooni and Steger, 2006; Walsh et al., 2007) to rigid exoskeletons with soft pneumatic actuators (Yamamoto et al.”
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art (2008, methodology): “MIT exoskeleton during metabolic testing [35], HAL-5 exoskeleton [41], nurse-assisting exoskeleton [43], and the RoboKnee [44] on the exoskeleton shin and a potentiometer on the knee joint.”
On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2005, background): “The RoboKnee, developed by Yobotics, is a powered knee orthotic designed to enhance the operator’s strength and endurance during walking [14].”
Human–Robot Interaction Control of Rehabilitation Robots With Series Elastic Actuators (2015, methodology): “Two typical SEA designs are linear SEAs [15]–[17], where a linear spring”