ArticleJournal of neuroengineering and rehabilitation2017
Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power.
Article in Journal of neuroengineering and rehabilitation, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 85 papers.
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Who cites it
85 citing papers in PubMed.
- Effect of the Kickstart exoskeleton lower extremity walking system on improving lower extremity walking ability in subacute stroke patients: a randomized controlled trial.Journal of neuroengineering and rehabilitation · 2025Trial
- Why inverse simulations overestimate optimal ankle exoskeleton assistance: the role of bi-articular coordination and joint stiffness.Journal of neuroengineering and rehabilitation · 2026Article
- Leveraging anteroposterior force oscillations to assist walking.Scientific reports · 2026Article
- Effects of robotic assistance on muscle activation and fatigue during overground walking in non-disabled individuals: an exploratory study.Journal of neuroengineering and rehabilitation · 2026Article
- Portable hip exoskeleton improves walking economy for stroke survivors.Nature communications · 2026Article
- A Robotic Assistance With Specialized Timing Improves Motor Performance: Implications for Movement Training.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2026Article
- Optimal Energy Shaping and Force Amplification Framework for Task-Agnostic, Biomimetic Ankle Exoskeletons.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2026Article
- A pressure-based motion intention recognition strategy for phase-specific knee exoskeleton assistance during sit-to-stand.Frontiers in physiology · 2026Article
- A quantitative framework for stroke difficulty in table tennis beginners: multidimensional analysis and implications for training.Frontiers in psychology · 2026Article
- Optimization of Actuator Stiffness and Actuation Timing of a Passive Ankle Exoskeleton: A Case Study Using a Musculoskeletal Modeling Approach.Biomimetics (Basel, Switzerland) · 2025Article
- A Biomimetic Treadmill-Driven Ankle Exoskeleton: A Study in Able-Bodied Individuals.Biomimetics (Basel, Switzerland) · 2025Article
- Task-Agnostic Exoskeleton Torque Assistance Reduces Ankle Osteoarthritis Pain: A Pilot Study.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
- Robotic Ankle Exoskeleton and Limb Angle Biofeedback for Assisting Stroke Gait: A Feasibility Study.IEEE robotics and automation letters · 2025Article
- Autonomous Powered Ankle Exoskeleton Improves Foot Clearance and Knee Hyperextension After Stroke: A Case Study.IEEE transactions on medical robotics and bionics · 2025Article
- Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Design and showcase of a stairs-based testbed for the benchmark of exoskeleton devices: The STEPbySTEP project.Wearable technologies · 2025Article
- A Review: Developments in Hardware Systems of Active Ankle Orthoses.Sensors (Basel, Switzerland) · 2024Review
- Evaluating the Performance of Joint Angle Estimation Algorithms on an Exoskeleton Mock-Up via a Modular Testing Approach.Sensors (Basel, Switzerland) · 2024Article
- Implementation of a passive bi-articular ankle-knee exoskeleton during maximal squat jumping.Royal Society open science · 2024Article
- A biomechanics and energetics dataset of neurotypical adults walking with and without kinematic constraints.Scientific data · 2024Article
25 more citing papers are in PubMed but not listed here.
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Authors and funding
4 authors.
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No grant is acknowledged in the PubMed record.
Abstract
backgroundPowered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton.
methodsTen healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙kg
resultsOptimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙kg
conclusionsThese results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits.
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