Biarticular Rigid Powered Lower Extremity Exoskeleton Robot

Lower extremity exoskeletons designed for multi-joint assistance are increasingly explored for rehabilitation and human augmentation. However, conventional monoarticular designs often suffer from joint misalignment and actuator redundancy, limiting their efficiency and user comfort. This study prese...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE robotics and automation letters Jg. 10; H. 11; S. 11984 - 11991
Hauptverfasser: Chen, Tianchi, Liu, Zhi, Li, Chaoyang, Chen, Xiaoan, Hu, Jianjun, Wu, Jiaxun, He, Ye
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.11.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Actuators
Ankle
Bio-inspired robotics
Biologically-inspired robots
Biomechanics
Exoskeletons
hardware-software integration in robotics
Hip
Joints (anatomy)
Knee
Misalignment
Motors
prosthetics and exoskeletons
Sensors
Thigh
Torque
ISSN:2377-3766, 2377-3766
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract Lower extremity exoskeletons designed for multi-joint assistance are increasingly explored for rehabilitation and human augmentation. However, conventional monoarticular designs often suffer from joint misalignment and actuator redundancy, limiting their efficiency and user comfort. This study presents a biarticular rigid powered lower extremity exoskeleton that simultaneously assists the knee and ankle joints through a single actuator, enabling coordinated torque generation across adjacent joints. A hierarchical control framework combining gait segmentation, impedance-based torque generation, and gravity/friction compensation is implemented to provide phase-specific assistance. Experimental results show that the proposed exoskeleton reduces gastrocnemius activation by up to 63.4% and metabolic cost by up to 11.6% during stair ascent, with corresponding reductions of 28.3% and 8.2% during level walking. These findings demonstrate the effectiveness of the biarticular and underactuated structure in enhancing locomotor efficiency, highlighting its potential as a compact and practical solution for dynamic and diverse mobility scenarios.
AbstractList Lower extremity exoskeletons designed for multi-joint assistance are increasingly explored for rehabilitation and human augmentation. However, conventional monoarticular designs often suffer from joint misalignment and actuator redundancy, limiting their efficiency and user comfort. This study presents a biarticular rigid powered lower extremity exoskeleton that simultaneously assists the knee and ankle joints through a single actuator, enabling coordinated torque generation across adjacent joints. A hierarchical control framework combining gait segmentation, impedance-based torque generation, and gravity/friction compensation is implemented to provide phase-specific assistance. Experimental results show that the proposed exoskeleton reduces gastrocnemius activation by up to 63.4% and metabolic cost by up to 11.6% during stair ascent, with corresponding reductions of 28.3% and 8.2% during level walking. These findings demonstrate the effectiveness of the biarticular and underactuated structure in enhancing locomotor efficiency, highlighting its potential as a compact and practical solution for dynamic and diverse mobility scenarios.
Author Wu, Jiaxun
Liu, Zhi
Hu, Jianjun
Chen, Tianchi
Li, Chaoyang
Chen, Xiaoan
He, Ye
Author_xml – sequence: 1
  givenname: Tianchi
  orcidid: 0000-0003-4544-0328
  surname: Chen
  fullname: Chen, Tianchi
  email: chentcme@foxmail.com
  organization: State Key Laboratory of Mechanical Transmission for Advanced Equipment, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China
– sequence: 2
  givenname: Zhi
  orcidid: 0000-0003-4522-6479
  surname: Liu
  fullname: Liu, Zhi
  email: liuzhierd@hotmail.com
  organization: State Key Laboratory of Mechanical Transmission for Advanced Equipment, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China
– sequence: 3
  givenname: Chaoyang
  orcidid: 0000-0003-1467-106X
  surname: Li
  fullname: Li, Chaoyang
  email: lizhaoyang@cqc.edu.cn
  organization: College of Intelligent Engineering, Chongqing City Management College, Chongqing, China
– sequence: 4
  givenname: Xiaoan
  surname: Chen
  fullname: Chen, Xiaoan
  email: xachen@cqu.edu.cn
  organization: State Key Laboratory of Mechanical Transmission for Advanced Equipment, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China
– sequence: 5
  givenname: Jianjun
  orcidid: 0000-0003-2396-5983
  surname: Hu
  fullname: Hu, Jianjun
  email: hujianjun@cqu.edu.cn
  organization: State Key Laboratory of Mechanical Transmission for Advanced Equipment, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China
– sequence: 6
  givenname: Jiaxun
  surname: Wu
  fullname: Wu, Jiaxun
  email: 202407021278t@stu.cqu.edu.cn
  organization: State Key Laboratory of Mechanical Transmission for Advanced Equipment, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China
– sequence: 7
  givenname: Ye
  orcidid: 0000-0002-4457-3877
  surname: He
  fullname: He, Ye
  email: h1166@cqu.edu.cn
  organization: State Key Laboratory of Mechanical Transmission for Advanced Equipment, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China
BookMark eNpNkM1Lw0AUxBepYK29e_AQ8Jy6bz-yCZ5qqR8QUIqel83ui6S22brZYvvfm9KCnmYOM_N4v0syaH2LhFwDnQDQ4q5cTCeMMjnhGQiqsjMyZFyplKssG_zzF2TcdUtKKUimeCGH5P6hMSE2drsyIVk0n41L3vwPBnRJedBkvosB103c9853X7jC6Ntk4Ssfr8h5bVYdjk86Ih-P8_fZc1q-Pr3MpmVqmVAxBSFq5qQEBG5BZTK3tUULjsmKupwZBFubgvI6h0KoulJSGFdBDs44i4aPyO1xdxP89xa7qJd-G9r-pOasf5hJKUSfoseUDb7rAtZ6E5q1CXsNVB8o6Z6SPlDSJ0p95eZYaRDxLw6glKSM_wKusmSj
CODEN IRALC6
Cites_doi 10.1186/s12984-020-00719-w
10.1038/s41598-023-35769-2
10.1186/s12984-017-0235-0
10.1055/s-0041-1731632
10.1109/TIE.2022.3229343
10.1007/s10846-020-01200-5
10.1186/s12984-018-0410-y
10.1017/jmo.2018.68
10.3389/fnins.2018.00069
10.1109/TMRB.2024.3385798
10.1109/TNSRE.2019.2942385
10.1088/1748-3190/ab70ed
10.2478/9788366675896-007
10.1088/1748-3190/ac2e0d
10.3389/fnbot.2017.00057
10.1109/TNSRE.2023.3236256
10.1155/2021/8833461
10.3390/electronics12112467
10.1177/17298806221149473
10.1016/j.mechmachtheory.2020.104101
10.1007/s42235-024-00537-z
10.1186/s12984-021-00815-5
10.1109/ICCAR.2019.8813365
10.1115/1.4055936
10.1080/00140139.2019.1602288
10.1098/rsif.2018.0413
10.1016/j.xnsj.2023.100209
10.1017/S0263574719000067
10.3390/machines10020134
10.1007/s12369-020-00662-9
10.3389/fnbot.2020.00031
10.1038/s41598-022-14784-9
10.1109/ICORR.2011.5975470
10.1016/j.sna.2024.115278
ContentType Journal Article
Copyright Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025
Copyright_xml – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025
DBID 97E
RIA
RIE
AAYXX
CITATION
7SC
7SP
8FD
JQ2
L7M
L~C
L~D
DOI 10.1109/LRA.2025.3614076
DatabaseName IEEE All-Society Periodicals Package (ASPP) 2005–Present
IEEE All-Society Periodicals Package (ASPP) 1998–Present
IEEE Electronic Library (IEL)
CrossRef
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Technology Research Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
DatabaseTitle CrossRef
Technology Research Database
Computer and Information Systems Abstracts – Academic
Electronics & Communications Abstracts
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts Professional
DatabaseTitleList
Technology Research Database
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 2377-3766
EndPage 11991
ExternalDocumentID 10_1109_LRA_2025_3614076
11177502
Genre orig-research
GrantInformation_xml – fundername: Ministry of Science and Technology High-end Foreign Experts Recruitment Plan of China
  grantid: G2022165013L
– fundername: Graduate School, Chongqing University; Graduate Scientific Research and Innovation Foundation of Chongqing, China
  grantid: CYB19062
  funderid: 10.13039/501100012231
– fundername: National Science and Technology Major Project; National Science and Technology Major Project of the Ministry of Science and Technology of China
  grantid: 2024ZD0714801
  funderid: 10.13039/501100018537
GroupedDBID 0R~
97E
AAJGR
AASAJ
AAWTH
ABQJQ
ABVLG
ACGFS
AGQYO
AGSQL
AHBIQ
AKJIK
AKQYR
ALMA_UNASSIGNED_HOLDINGS
ATWAV
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
EBS
EJD
IFIPE
IPLJI
JAVBF
KQ8
M43
M~E
O9-
OCL
RIA
RIE
AAYXX
CITATION
7SC
7SP
8FD
JQ2
L7M
L~C
L~D
ID FETCH-LOGICAL-c247t-144f2d551e13c17658cfcec1d25b0d82ae1cfa903f81947fb754adb181dadcea3
IEDL.DBID RIE
ISICitedReferencesCount 0
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001594944700011&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 2377-3766
IngestDate Sat Nov 22 13:40:52 EST 2025
Thu Nov 27 01:03:44 EST 2025
Wed Nov 26 07:22:47 EST 2025
IsPeerReviewed true
IsScholarly true
Issue 11
Language English
License https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
https://doi.org/10.15223/policy-029
https://doi.org/10.15223/policy-037
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c247t-144f2d551e13c17658cfcec1d25b0d82ae1cfa903f81947fb754adb181dadcea3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0003-2396-5983
0000-0003-4522-6479
0000-0003-4544-0328
0000-0003-1467-106X
0000-0002-4457-3877
PQID 3261425544
PQPubID 4437225
PageCount 8
ParticipantIDs crossref_primary_10_1109_LRA_2025_3614076
ieee_primary_11177502
proquest_journals_3261425544
PublicationCentury 2000
PublicationDate 2025-11-01
PublicationDateYYYYMMDD 2025-11-01
PublicationDate_xml – month: 11
  year: 2025
  text: 2025-11-01
  day: 01
PublicationDecade 2020
PublicationPlace Piscataway
PublicationPlace_xml – name: Piscataway
PublicationTitle IEEE robotics and automation letters
PublicationTitleAbbrev LRA
PublicationYear 2025
Publisher IEEE
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml – name: IEEE
– name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References ref13
ref35
ref12
ref34
ref15
ref36
ref31
ref30
ref11
ref33
ref10
ref32
ref2
ref1
ref17
ref16
ref19
ref18
ref23
Kim (ref24) 2022
ref26
ref25
ref20
ref22
ref21
ref28
ref27
ref29
ref8
ref7
ref9
ref4
ref3
ref6
ref5
Ali (ref14) 2021
References_xml – ident: ref35
  doi: 10.1186/s12984-020-00719-w
– ident: ref26
  doi: 10.1038/s41598-023-35769-2
– ident: ref36
  doi: 10.1186/s12984-017-0235-0
– ident: ref18
  doi: 10.1055/s-0041-1731632
– ident: ref32
  doi: 10.1109/TIE.2022.3229343
– ident: ref8
  doi: 10.1007/s10846-020-01200-5
– ident: ref19
  doi: 10.1186/s12984-018-0410-y
– ident: ref10
  doi: 10.1017/jmo.2018.68
– ident: ref15
  doi: 10.3389/fnins.2018.00069
– ident: ref11
  doi: 10.1109/TMRB.2024.3385798
– year: 2021
  ident: ref14
  article-title: Simulation based optimal design of exoskeletons to reduce metabolic cost and improve energy efficiency
  publication-title: Diss.
– ident: ref7
  doi: 10.1109/TNSRE.2019.2942385
– ident: ref17
  doi: 10.1088/1748-3190/ab70ed
– ident: ref4
  doi: 10.2478/9788366675896-007
– ident: ref27
  doi: 10.1088/1748-3190/ac2e0d
– ident: ref25
  doi: 10.3389/fnbot.2017.00057
– ident: ref31
  doi: 10.1109/TNSRE.2023.3236256
– volume-title: Soft Hip Exosuit Optimization For Improving Mobility in Healthy Young Adults and Individuals With Parkinsons Disease
  year: 2022
  ident: ref24
– ident: ref34
  doi: 10.1155/2021/8833461
– ident: ref33
  doi: 10.3390/electronics12112467
– ident: ref3
  doi: 10.1177/17298806221149473
– ident: ref12
  doi: 10.1016/j.mechmachtheory.2020.104101
– ident: ref1
  doi: 10.1007/s42235-024-00537-z
– ident: ref5
  doi: 10.1186/s12984-021-00815-5
– ident: ref28
  doi: 10.1109/ICCAR.2019.8813365
– ident: ref30
  doi: 10.1115/1.4055936
– ident: ref13
  doi: 10.1080/00140139.2019.1602288
– ident: ref16
  doi: 10.1098/rsif.2018.0413
– ident: ref9
  doi: 10.1016/j.xnsj.2023.100209
– ident: ref20
  doi: 10.1017/S0263574719000067
– ident: ref6
  doi: 10.3390/machines10020134
– ident: ref2
  doi: 10.1007/s12369-020-00662-9
– ident: ref22
  doi: 10.3389/fnbot.2020.00031
– ident: ref23
  doi: 10.1038/s41598-022-14784-9
– ident: ref29
  doi: 10.1109/ICORR.2011.5975470
– ident: ref21
  doi: 10.1016/j.sna.2024.115278
SSID ssj0001527395
Score 2.3079495
Snippet Lower extremity exoskeletons designed for multi-joint assistance are increasingly explored for rehabilitation and human augmentation. However, conventional...
SourceID proquest
crossref
ieee
SourceType Aggregation Database
Index Database
Publisher
StartPage 11984
SubjectTerms Actuators
Ankle
Bio-inspired robotics
Biologically-inspired robots
Biomechanics
Exoskeletons
hardware-software integration in robotics
Hip
Joints (anatomy)
Knee
Misalignment
Motors
prosthetics and exoskeletons
Sensors
Thigh
Torque
Title Biarticular Rigid Powered Lower Extremity Exoskeleton Robot
URI https://ieeexplore.ieee.org/document/11177502
https://www.proquest.com/docview/3261425544
Volume 10
WOSCitedRecordID wos001594944700011&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVIEE
  databaseName: IEEE Electronic Library (IEL)
  customDbUrl:
  eissn: 2377-3766
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0001527395
  issn: 2377-3766
  databaseCode: RIE
  dateStart: 20160101
  isFulltext: true
  titleUrlDefault: https://ieeexplore.ieee.org/
  providerName: IEEE
– providerCode: PRVHPJ
  databaseName: ROAD: Directory of Open Access Scholarly Resources
  customDbUrl:
  eissn: 2377-3766
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0001527395
  issn: 2377-3766
  databaseCode: M~E
  dateStart: 20160101
  isFulltext: true
  titleUrlDefault: https://road.issn.org
  providerName: ISSN International Centre
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LS8NAEB60eNCDz4rVWnLw4iFtNslms3iq0uKhllIUegub3Y0EsZE2FU_-dmc3KS2IB09ZyIPw7eP7ZmdnBuCGUJwz0icu5WjpoP0l3JRz7VIpQ87wjieFLTbBxuN4NuOTOljdxsJore3hM901TevLV4Vcma2yHjEeRmpSR-4yFlXBWpsNFZNKjNO1K9LjvdG0jwagT7sBcpBnsopsUY-tpfJrAbasMjz65_8cw2EtH51-1d8nsKPnp3CwlVTwDO7uczsczPlSZ5q_5sqZmFJoWjkjc3UGX-VCv6P6xlaxfEPeQf3nTIu0KJvwMhw8Pzy6dYkEV_ohK100hzJfoerRJJCEoZyQmdSSKJ-mnop9oYnMBPeCDJk_ZFnKaChUirSuhJJaBOfQmBdzfQGOMS1IKmisAhHKIOIsi7mKIp2lnAgVtuB2jV7yUWXCSKwF4fEEkU4M0kmNdAuaBq3NczVQLWiv8U7qubJMUEASXDloGF7-8doV7JuvVyGAbWiUi5W-hj35WebLRQd2n74HHTsYfgB84LNB
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3PS8MwFH7IFNSDPydOp_bgxUO3pm3WBk9TNibWMcaE3UKapDLEVbZO_PN9yTo2EA-eGmhLy5cf7_vy8t4DuCUU54z0iUsZKh3UX8JNGdMulTJkEd7xpLDFJqJ-Px6P2aAMVrexMFpre_hMN0zT-vJVLhdmq6xJjIeRmtSR26Z0Vhmutd5SMcnEGF05Iz3WTIZtlIA-bQRohTyTV2TD-NhqKr-WYGtXuof__KMjOCgJpNNe9vgxbOnpCexvpBU8hfuHiR0Q5oSpM5y8TZQzMMXQtHISc3U638VMfyD_xlY-f0fLgwzQGeZpXlThtdsZPfbcskiCK_0wKlwURJmvkPdoEkgSIaGQmdSSKJ-mnop9oYnMBPOCDG1_GGVpREOhUjTsSiipRXAGlWk-1efgGHFBUkFjFYhQBi0WZTFTrZbOUkaECmtwt0KPfy5zYXCrITzGEWlukOYl0jWoGrTWz5VA1aC-wpuXs2XOkUISXDuwTy_-eO0Gdnujl4QnT_3nS9gzX1oGBNahUswW-gp25Fcxmc-u7ZD4AcFHtVk
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Biarticular+Rigid+Powered+Lower+Extremity+Exoskeleton+Robot&rft.jtitle=IEEE+robotics+and+automation+letters&rft.au=Chen%2C+Tianchi&rft.au=Liu%2C+Zhi&rft.au=Li%2C+Chaoyang&rft.au=Chen%2C+Xiaoan&rft.date=2025-11-01&rft.pub=IEEE&rft.eissn=2377-3766&rft.volume=10&rft.issue=11&rft.spage=11984&rft.epage=11991&rft_id=info:doi/10.1109%2FLRA.2025.3614076&rft.externalDocID=11177502
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2377-3766&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2377-3766&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2377-3766&client=summon