Closed-Loop FES Control of a Hybrid Exoskeleton during Sit-to-Stand Exercises: Concept and First Evaluation
, Pedro Truppel Morim 1, Bernhard Penzlin 1,2, Felix Röhren 1, Lukas Bergmann 1, Philip von Platen 1, Cornelius Bollheimer 3, Steffen Leonhardt 1,* and Chuong Ngo 1,*Round 1
Reviewer 1 Report
See the attachment.
Comments for author File: 
Comments.pdf
There are some grammatical errors. The English can be improved.
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Reviewer 2 Report
The paper presents a study on a power lower-limb exoskeleton with a closed loop FES control for sit-to-stand movements. The paper describes the comparison of two sets of experiments, open-loop and closed-loop for STS body motion. The study record precise movement of hip and knee with a motion capture system.
The paper is well describe, well written. Just a few comments that are aimed to improve the manuscript clarity.
P4L145, the subscripts must be fixed.
P5L170. The manuscript could be improved by adding information on how the FES-induced torque tests were carried out. How the torque was measured and what were the parameters considered.
P6L182. Is this a in built exoskeleton or it is a commercial one? although the position of actuators was previously describe, they can be mentioned here briefly.
Table 1. Author need to describe how the mass of the human body parts were obtained. You can refer to papers on this, most cited is a paper from Dempster “Properties of body segments based on size and weight” 1967,
P8L226. It is good that the individuals were instructed to adjust the st height to the lower limb length and that they sat with their knees bent at 90-deg angle. But authors need to specify how if there was any procedure to follow this guidelines to enhance repeatability. Similarly, how do they fixed the speed to 5 seconds, do they use specific counting method?
P9L243-253, does the experiment was also performed on stand-to-sit?
Figure 7 must be firs referenced in text.
P10L269. Authors need to more specific about what is an aggressive torque at the beginning and end. of STS movement. Is the “aggressive torque” related to the drawing of high starting current start of the motor?
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
Round 2
Reviewer 1 Report
The authors have addressed my comment properly. The paper can be accpted.
