ArticleIEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society2021
Optimizing Exoskeleton Assistance for Faster Self-Selected Walking.
Article in IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 27 papers.
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Who cites it
27 citing papers in PubMed.
- Dynamic stability is tied to gait assistance when walking with a hip exoskeleton.Scientific reports · 2026Article
- Validation of Dynamic Bayesian Optimization for Human-in-the-Loop Optimization of Exoskeleton Control at User-Driven Walking Speed.bioRxiv : the preprint server for biology · 2026Article
- User preference-based human-in-the-loop tuning of exoskeleton assistance during walking.npj biomedical innovations · 2026Article
- User preference in the personalized control of an ankle prosthesis: a case study.Journal of neuroengineering and rehabilitation · 2026Article
- Robotic Ankle Exoskeleton and Limb Angle Biofeedback for Assisting Stroke Gait: A Feasibility Study.IEEE robotics and automation letters · 2025Article
- Biomechanical models in the lower-limb exoskeletons development: a review.Journal of neuroengineering and rehabilitation · 2025Review
- A Data-Driven Approach to Estimate Changes in Peak Knee Contact Force With Exoskeleton Assistance.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 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
- Understanding the perspectives of older adults and physiotherapists on home-based lower-limb exoskeletons.Wearable technologies · 2025Article
- Review
- Human-in-the-Loop Trajectory Optimization Based on sEMG Biofeedback for Lower-Limb Exoskeleton.Sensors (Basel, Switzerland) · 2024Article
- Human-in-the-Loop Optimization of Knee Exoskeleton Assistance for Minimizing User's Metabolic and Muscular Effort.Sensors (Basel, Switzerland) · 2024Article
- Walking on Real-world Terrain with an Ankle Exoskeleton in Cerebral Palsy.IEEE transactions on medical robotics and bionics · 2024Article
- Optimizing exoskeleton assistance to improve walking speed and energy economy for older adults.Journal of neuroengineering and rehabilitation · 2024Article
- Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons.Wearable technologies · 2024Article
- Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- Article
- Predicting the metabolic cost of exoskeleton-assisted squatting using foot pressure features and machine learning.Frontiers in robotics and AI · 2023Article
- Article
- Reducing the energy cost of walking with low assistance levels through optimized hip flexion assistance from a soft exosuit.Scientific reports · 2022Article
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
Self-selected walking speed is an important aspect of mobility. Exoskeletons can increase walking speed, but the mechanisms behind these changes and the upper limits on performance are unknown. Human-in-the-loop optimization is a technique for identifying exoskeleton characteristics that maximize the benefits of assistance, which has been critical to achieving large improvements in energy economy. In this study, we used human-in-the-loop optimization to test whether large improvements in self-selected walking speed are possible through ankle exoskeleton assistance. Healthy participants (N =10) were instructed to walk at a comfortable speed on a self-paced treadmill while wearing tethered ankle exoskeletons. An algorithm sequentially applied different patterns of exoskeleton torque and estimated the speed-optimal pattern, which was then evaluated in separate trials. With torque optimized for speed, participants walked 42% faster than in normal shoes (1.83 ms
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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.