Design and Evaluation of a Load Control System for Biomechanical Energy Harvesters and Energy-Removing Exoskeletons
Bibliographic record
Abstract
Controlling the timing and magnitude of electricity production is a critical factor in reducing the metabolic cost of walking with an energy-removing exoskeleton. This article outlines a novel power electronic control system designed to apply a mechanical loading profile onto the user that extracts kinetic energy. This energy extraction assists the user's muscles, thereby providing metabolic assistance while simultaneously producing electrical power. This open-loop control system estimates the state of both the exoskeleton and the user's lower limbs and uses this estimation to identify and apply a desired knee flexion moment during the terminal swing phase. The control system was evaluated using human treadmill walking experiments and benchtop testing, which determined that the system could identify the user's stride period, ground contact timing, and the device's moment arm with high accuracy and precision. Furthermore, the system could apply the desired cable force within +2.6 and −2.3 N and the muscle-centric knee moment profile within +0.05 and −0.04 N·m. Through proper load control, a user would benefit from walking with an energy-removing exoskeleton, regardless of the need for portable power.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".