Knowledge Base Repository
In addition to research papers, the Design Society is developing several valuable resources for those interested in the study of design. These include a repository of PhD theses, a library of case studies and transcripts of design activities, and an archive of our newsletters. Please note that these resources are accessible exclusively to Design Society members.
Design and Development of an Active Knee Exoskeleton for Gait Assistance
Siddiqui, Hafsa; Bieber, Sebastian; Sherigar, Raghava, Anurag; Weidner, Robert; Scherb, David
Type:
Year:
2026
Editor:
Paetzold-Byhain, K.; Krause, D.; Wartzack, S. and Koch, A.
Author:
Series:
DfX
Institution:
Technische Universität Bergakademie Freiberg, Germany
Page(s):
050-059
DOI number:
Abstract:
Active knee exoskeletons require controllers that adapt assistance across different locomotion conditions while maintaining a simple embedded architecture. This study presents a kinematics-based adaptive controller that adjusts assistance timing and magnitude using onboard knee kinematics and predefined user body mass. The controller was evaluated during level walking and stair ascent at two walking speeds. Distinct assistance profiles were generated across all locomotion conditions. Exoskeleton-assisted locomotion was accompanied by reduced muscle activity and changes in knee kinematics, although these differences did not reach statistical significance. The findings demonstrate the feasibility of the proposed control strategy and identify opportunities for further refinement.
Keywords:
