ArticleJournal of neuroengineering and rehabilitation2019
Mechanics and energetics of post-stroke walking aided by a powered ankle exoskeleton with speed-adaptive myoelectric control.
Article in Journal of neuroengineering and rehabilitation, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 45 papers, 3 of them syntheses that pooled it.
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
45 citing papers in PubMed, 3 syntheses or guidelines pooled it, 105 citations in OpenAlex.
- Measurement Technologies for Ankle-Dorsiflexion Function After Stroke: A Systematic Review and Meta-Analysis of Sensing Approaches and Their Relationships with Gait Performance.Sensors (Basel, Switzerland) · 2026Pooled it
- Control strategies used in lower limb exoskeletons for gait rehabilitation after brain injury: a systematic review and analysis of clinical effectiveness.Journal of neuroengineering and rehabilitation · 2023Pooled it
- Effects of control strategies on gait in robot-assisted post-stroke lower limb rehabilitation: a systematic review.Journal of neuroengineering and rehabilitation · 2022Pooled it
- A Pilot Study on the Short-Term Effects of an Electric Knee-Ankle-Foot Orthosis on Gait Performance and Physiological Cost Index in Patients With Hemiplegia: Influence of Initial Balance Ability Assessed by the Berg Balance Scale.BioMed research international · 2026Trial
- Exercising with a robotic exoskeleton can improve memory and gait in people with Parkinson's disease by facilitating progressive exercise intensity.Scientific reports · 2024Trial
- Passive ankle exoskeleton assistance selectively modulates triceps surae neural control during balance.Journal of the Royal Society, Interface · 2026Article
- Tactile Biofeedback That Targets Stance Time Acutely Modulates Propulsion Mechanics in Healthy Gait.Research square · 2026Article
- Portable hip exoskeleton improves walking economy for stroke survivors.Nature communications · 2026Article
- Timing is everything: the effect of measurement timing on trailing limb angle in gait analysis.Frontiers in rehabilitation sciences · 2026Article
- Effective assistance timing using characteristics of paretic ground reaction force in ankle robotic gait training for individuals with hemiparesis after stroke: a cross-sectional study.Journal of neuroengineering and rehabilitation · 2025Article
- Autonomous Powered Ankle Exoskeleton Improves Foot Clearance and Knee Hyperextension After Stroke: A Case Study.IEEE transactions on medical robotics and bionics · 2025Article
- Robotic Ankle Exoskeleton and Limb Angle Biofeedback for Assisting Stroke Gait: A Feasibility Study.IEEE robotics and automation letters · 2025Article
- Bilateral hip exoskeleton assistance enables faster walking in individuals with chronic stroke-related gait impairments.Scientific reports · 2025Article
- Multi-Modal Sensing for Propulsion Estimation in People Post-Stroke Across Speeds.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- Article
- Insights into muscle metabolic energetics: Modelling muscle-tendon mechanics and metabolic rates during walking across speeds.PLoS computational biology · 2024Article
- Gait signature changes with walking speed are similar among able-bodied young adults despite persistent individual-specific differences.bioRxiv : the preprint server for biology · 2024Article
- Quantifying changes in individual-specific template-based representations of center-of-mass dynamics during walking with ankle exoskeletons using Hybrid-SINDy.Scientific reports · 2024Article
- Gait quality in prosthesis users is reflected by force-based metrics when learning to walk on a new research-grade powered prosthesis.Frontiers in rehabilitation sciences · 2024Article
- Effects of a soft robotic exosuit on the quality and speed of overground walking depends on walking ability after stroke.Journal of neuroengineering and rehabilitation · 2023Article
Corrections and comments
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Authors and funding
7 authors at 5 institutions in 2 countries.
Funding
Abstract
backgroundAnkle exoskeletons offer a promising opportunity to offset mechanical deficits after stroke by applying the needed torque at the paretic ankle. Because joint torque is related to gait speed, it is important to consider the user's gait speed when determining the magnitude of assistive joint torque. We developed and tested a novel exoskeleton controller for delivering propulsive assistance which modulates exoskeleton torque magnitude based on both soleus muscle activity and walking speed. The purpose of this research is to assess the impact of the resulting exoskeleton assistance on post-stroke walking performance across a range of walking speeds.
methodsSix participants with stroke walked with and without assistance applied to a powered ankle exoskeleton on the paretic limb. Walking speed started at 60% of their comfortable overground speed and was increased each minute (n00, n01, n02, etc.). We measured lower limb joint and limb powers, metabolic cost of transport, paretic and non-paretic limb propulsion, and trailing limb angle.
resultsExoskeleton assistance increased with walking speed, verifying the speed-adaptive nature of the controller. Both paretic ankle joint power and total limb power increased significantly with exoskeleton assistance at six walking speeds (n00, n01, n02, n03, n04, n05). Despite these joint- and limb-level benefits associated with exoskeleton assistance, no subject averaged metabolic benefits were evident when compared to the unassisted condition. Both paretic trailing limb angle and integrated anterior paretic ground reaction forces were reduced with assistance applied as compared to no assistance at four speeds (n00, n01, n02, n03).
conclusionsOur results suggest that despite appropriate scaling of ankle assistance by the exoskeleton controller, suboptimal limb posture limited the conversion of exoskeleton assistance into forward propulsion. Future studies could include biofeedback or verbal cues to guide users into limb configurations that encourage the conversion of mechanical power at the ankle to forward propulsion.
trial registrationN/A.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.