{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T18:21:47Z","timestamp":1770747707691,"version":"3.49.0"},"reference-count":19,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2015,4,9]],"date-time":"2015-04-09T00:00:00Z","timestamp":1428537600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"MOTIE\/DAPA\/CMTC","award":["13-DU-MC-16"],"award-info":[{"award-number":["13-DU-MC-16"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In exoskeletal robots, the quantification of the user\u2019s muscular effort is important to recognize the user\u2019s motion intentions and evaluate motor abilities. In this paper, we attempt to estimate users\u2019 muscular efforts accurately using joint torque sensor which contains the measurements of dynamic effect of human body such as the inertial, Coriolis, and gravitational torques as well as torque by active muscular effort. It is important to extract the dynamic effects of the user\u2019s limb accurately from the measured torque. The user\u2019s limb dynamics are formulated and a convenient method of identifying user-specific parameters is suggested for estimating the user\u2019s muscular torque in robotic exoskeletons. Experiments were carried out on a wheelchair-integrated lower limb exoskeleton, EXOwheel, which was equipped with torque sensors in the hip and knee joints. The proposed methods were evaluated by 10 healthy participants during body weight-supported gait training. The experimental results show that the torque sensors are to estimate the muscular torque accurately in cases of relaxed and activated muscle conditions.<\/jats:p>","DOI":"10.3390\/s150408337","type":"journal-article","created":{"date-parts":[[2015,4,9]],"date-time":"2015-04-09T10:44:31Z","timestamp":1428576271000},"page":"8337-8357","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":56,"title":["A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors"],"prefix":"10.3390","volume":"15","author":[{"given":"Beomsoo","family":"Hwang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Sogang University, Seoul 121-742, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Doyoung","family":"Jeon","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Sogang University, Seoul 121-742, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2015,4,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"380","DOI":"10.1109\/TNSRE.2005.848628","article-title":"Patient-Cooperative Strategies for Robot-Aided Treadmill Training: First Experimental Results","volume":"13","author":"Riener","year":"2005","journal-title":"IEEE Trans. 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