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Bio-inspired control of joint torque and knee stiffness in a robotic lower limb exoskeleton using a central pattern generator

https://doi.org/10.1109/icorr.2017.8009442

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What this work says

Outgoing claims: the papers this work cites, builds on, or argues with.

inferredcites →https://doi.org/10.1002/9780470549148openalex-snapshot

Biomechanics and Motor Control of Human Movement

inferredcites →https://doi.org/10.1007/bf00198086openalex-snapshot

Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment

inferredcites →https://doi.org/10.1007/bf00449593openalex-snapshot

Sustained oscillations generated by mutually inhibiting neurons with adaptation

inferredcites →https://doi.org/10.1016/0021-9290(88)90248-5openalex-snapshot

An analysis of the sources of musculoskeletal system impedance

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Organization of Human Locomotion: Proprioception and Quadrupedal Coordination

inferredcites →https://doi.org/10.1016/j.neunet.2008.03.014openalex-snapshot

Central pattern generators for locomotion control in animals and robots: A review

inferredcites →https://doi.org/10.1016/j.robot.2007.03.001openalex-snapshot

MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot

inferredcites →https://doi.org/10.1017/s0317167100014530openalex-snapshot

Global Incidence and Prevalence of Traumatic Spinal Cord Injury

inferredcites →https://doi.org/10.1080/02701367.1983.10605290openalex-snapshot

Anatomical Data for Analyzing Human Motion

inferredcites →https://doi.org/10.1098/rsbl.2010.0175openalex-snapshot

Two explanations for the compliant running paradox: reduced work of bouncing viscera and increased stability in uneven terrain

inferredcites →https://doi.org/10.1098/rspb.1911.0077openalex-snapshot

The intrinsic factors in the act of progression in the mammal

inferredcites →https://doi.org/10.1109/41.538609openalex-snapshot

Genetic algorithms: concepts and applications [in engineering design]

inferredcites →https://doi.org/10.1109/70.976014openalex-snapshot

Impedance control for biped robot locomotion

inferredcites →https://doi.org/10.1109/embc.2014.6943912openalex-snapshot

Knee stiffness estimation in physiological gait

inferredcites →https://doi.org/10.1109/irds.2002.1041632openalex-snapshot

Design of prototype humanoid robotics platform for HRP

inferredcites →https://doi.org/10.1109/robio.2014.7090432openalex-snapshot

A robotic exoskeleton for lower limb rehabilitation controlled by central pattern generator

inferredcites →https://doi.org/10.1109/robot.2005.1570188openalex-snapshot

Footstep Planning for the Honda ASIMO Humanoid

inferredcites →https://doi.org/10.1111/j.1748-1716.1989.tb08655.xopenalex-snapshot

Ground reaction forces at different speeds of human walking and running

inferredcites →https://doi.org/10.1126/science.7423199openalex-snapshot

Neural Basis of Rhythmic Behavior in Animals

inferredcites →https://doi.org/10.1142/s0219843604000083openalex-snapshot

ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE

inferredcites →https://doi.org/10.1152/physrev.1996.76.3.687openalex-snapshot

Principles of rhythmic motor pattern generation

inferredcites →https://doi.org/10.1177/0278364906064566openalex-snapshot

Exploiting Natural Dynamics to Reduce Energy Consumption by Controlling the Compliance of Soft Actuators

inferredcites →https://doi.org/10.1186/s12984-015-0074-9openalex-snapshot

Gait speed using powered robotic exoskeletons after spinal cord injury: a systematic review and correlational study

inferredcites →https://doi.org/10.1371/journal.pone.0081841openalex-snapshot

Estimation of Quasi-Stiffness of the Human Hip in the Stance Phase of Walking

inferredcites →https://doi.org/10.1371/journal.pone.0083306openalex-snapshot

When, Where and How Osteoporosis-Associated Fractures Occur: An Analysis from the Global Longitudinal Study of Osteoporosis in Women (GLOW)

inferredcites →https://doi.org/10.1682/jrrd.2011.11.0213openalex-snapshot

Functional priorities, assistive technology, and brain-computer interfaces after spinal cord injury

inferredcites →https://doi.org/10.5860/choice.28-2135openalex-snapshot

Biomechanics and motor control of human movement

What points at this work

Incoming claims: where this work appears in other papers’ reference lists and arguments.

inferred← citeshttps://doi.org/10.2139/ssrn.4895828openalex-extracted

A Review on Bio-Inspired Control Strategies for Wearable Robotic Devices

inferred← citeshttps://doi.org/10.1007/978-3-030-79630-3_1openalex-snapshot

Introduction to Robotics for Gait Assistance and Rehabilitation

inferred← citeshttps://doi.org/10.1007/978-3-031-32446-8_14openalex-snapshot

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

inferred← citeshttps://doi.org/10.1007/978-3-032-13551-3_21openalex-snapshot

Knee and Ankle Exoskeleton for Walking Assistance with Flexible Joint as Force Sensors

inferred← citeshttps://doi.org/10.1007/s10846-021-01487-yopenalex-snapshot

Human-in-the-Loop Control for AGoRA Unilateral Lower-Limb Exoskeleton

inferred← citeshttps://doi.org/10.1007/s42235-021-00132-6openalex-snapshot

A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

inferred← citeshttps://doi.org/10.1049/cth2.12604openalex-snapshot

Model predictive control‐based tracking controller for hybrid‐driven underwater legged robot

inferred← citeshttps://doi.org/10.1098/rspb.2021.1197openalex-snapshot

Human biomechanics perspective on robotics for gait assistance: challenges and potential solutions

inferred← citeshttps://doi.org/10.1109/ichms59971.2024.10555587openalex-snapshot

Speech-Based Human-Exoskeleton Interaction for Lower Limb Motion Planning

inferred← citeshttps://doi.org/10.1109/icorr58425.2023.10304706openalex-snapshot

INSPIIRE – A Modular and Passive Exoskeleton to Investigate Human Walking and Balance

inferred← citeshttps://doi.org/10.1109/icorr66766.2025.11062929openalex-snapshot

Spatial Robust Whole-Body Dynamic Trajectory Optimization of a Lower-Limb Exoskeleton

inferred← citeshttps://doi.org/10.1109/icra48891.2023.10161559openalex-snapshot

Deep Reinforcement Learning based Personalized Locomotion Planning for Lower-Limb Exoskeletons

inferred← citeshttps://doi.org/10.1109/lra.2021.3098915openalex-snapshot

Intelligent Locomotion Planning With Enhanced Postural Stability for Lower-Limb Exoskeletons

inferred← citeshttps://doi.org/10.1109/lra.2021.3105996openalex-snapshot

Adaptive CPG-Based Gait Planning With Learning-Based Torque Estimation and Control for Exoskeletons

inferred← citeshttps://doi.org/10.1109/robio.2018.8664912openalex-snapshot

Adaptive CPG-Based Impedance Control for Assistive Lower Limb Exoskeleton

inferred← citeshttps://doi.org/10.1109/thms.2025.3634377openalex-snapshot

Quantifying Manual Adjustment of Foot Placement Under a Fixed Robotic Trajectory in Lower Limb Exoskeletons

inferred← citeshttps://doi.org/10.1109/tii.2023.3234619openalex-snapshot

Personalized Symmetrical and Asymmetrical Gait Generation of a Lower Limb Exoskeleton

inferred← citeshttps://doi.org/10.1109/tmech.2022.3156168openalex-snapshot

Autonomous Locomotion Trajectory Shaping and Nonlinear Control for Lower Limb Exoskeletons

inferred← citeshttps://doi.org/10.1109/tmrb.2025.3550642openalex-snapshot

Real-Time Adaptation of Deep Learning Walking Speed Estimators Enables Biomimetic Assistance Modulation in an Open-Source Bionic Leg

inferred← citeshttps://doi.org/10.1186/s12984-018-0360-4openalex-snapshot

Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016

inferred← citeshttps://doi.org/10.3389/fnbot.2018.00039openalex-snapshot

Leg Force Control Through Biarticular Muscles for Human Walking Assistance

inferred← citeshttps://doi.org/10.3389/frobt.2021.613574openalex-snapshot

Bio-Inspired Knee Joint: Trends in the Hardware Systems Development

inferred← citeshttps://doi.org/10.3390/act12110406openalex-snapshot

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons

inferred← citeshttps://doi.org/10.5954/icarob.2022.gs1-2openalex-snapshot

A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward Personalization with 3D printed Spring-Damper Components

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