← All datasets

Data behind Divekar et al. (2024, Science Robotics): 10 able-bodied subjects performed lifting, lowering, carrying, walking, ramp and stair tasks with and without a backdrivable knee exoskeleton. Includes normalized quadriceps and hamstring EMG, leg/knee kinematics, exoskeleton torque, ground reaction forces, task performance and perceptual ratings.

Details

Subjects

n = 10

Setting

Laboratory (controlled or simulated)

Protocol / load

Squat lifting/lowering and carrying, plus level walking, 15-deg ramps and stairs, with vs. without bilateral knee exoskeletons

Equipment

Backdrivable knee exoskeletons with task-adaptive controller, quadriceps & hamstring EMG, pressure insoles (foot force)

Formats

mat

License

CC0-1.0

Keywords

exoskeleton, knee, fatigue, quadriceps, task-adaptive-control

Added to catalog

2026-08-07

Exoskeleton

Record type

Device evaluation

Device(s)

Bilateral backdrivable knee exoskeleton (Divekar 2024)

Body region

Knee

Actuation

Active

Study design

With vs. without the exoskeleton, within-subject

Outcomes

Muscle activity (EMG), Kinematics, Kinetics / assistive forces, Task performance, Subjective ratings

This record is part of the exoskeleton collection.

Cite

Cite the dataset as its authors request (check the source page for an official citation); this BibTeX is a convenience starting point.

@misc{divekar-knee-exo-lifting,
  author = {Divekar, N. and Thomas, G. and Yerva, A. and Frame, H. and Gregg, R.},
  title  = {{Versatile Knee Exoskeleton: Lifting, Lowering \& Carrying Fatigue Dataset}},
  year   = {2024},
  doi    = {10.5061/dryad.z34tmpgks},
  url    = {https://doi.org/10.5061/dryad.z34tmpgks},
}