ArticleJournal of neuroengineering and rehabilitation2021
Optimized hip-knee-ankle exoskeleton assistance at a range of walking speeds.
Article in Journal of neuroengineering and rehabilitation, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers, 1 of them a synthesis that pooled it.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
19 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Use of Lower Limb Exoskeletons as an Assessment Tool for Human Motor Performance: A Systematic Review.Sensors (Basel, Switzerland) · 2023Pooled it
- An Underactuated Hip Exoskeleton to Assist Hip Joints Driven by a Single-Series Elastic Actuator.Biomimetics (Basel, Switzerland) · 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
- Mechatronic Design and Development of a Lower-Limb Exoskeleton System Based on Knee Joint Biomechanical Principles Using Electro-Pneumatic Actuation with an Embedded EMG Controller for Experimental Validation in Elderly Gait Rehabilitation Support.Bioengineering (Basel, Switzerland) · 2026Article
- User preference-based human-in-the-loop tuning of exoskeleton assistance during walking.npj biomedical innovations · 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
- Interaction-based rapid heuristic optimization of exoskeleton assistance during walking.Communications engineering · 2025Article
- Benchmarking the predictive capability of human gait simulations.PLoS computational biology · 2025Article
- Optimizing hip exoskeleton assistance pattern based on machine learning and simulation algorithms: a personalized approach to metabolic cost reduction.Frontiers in robotics and AI · 2025Article
- Compensating elastic faults in a torque-assisted knee exoskeleton: functional evaluation and user perception study.Journal of neuroengineering and rehabilitation · 2024Article
- Design and Evaluation of a Bilateral Semi-Rigid Exoskeleton to Assist Hip Motion.Biomimetics (Basel, Switzerland) · 2024Article
- Optimization of Torque-Control Model for Quasi-Direct-Drive Knee Exoskeleton Robots Based on Regression Forecasting.Sensors (Basel, Switzerland) · 2024Article
- Integrating musculoskeletal simulation and machine learning: a hybrid approach for personalized ankle-foot exoskeleton assistance strategies.Frontiers in bioengineering and biotechnology · 2024Article
- Exoskeletons: Contribution to Occupational Health and Safety.Bioengineering (Basel, Switzerland) · 2023Review
- Assisting walking balance using a bio-inspired exoskeleton controller.Journal of neuroengineering and rehabilitation · 2023Article
- Effect of Gait Speed on Trajectory Prediction Using Deep Learning Models for Exoskeleton Applications.Sensors (Basel, Switzerland) · 2023Article
- Reducing the energy cost of walking with low assistance levels through optimized hip flexion assistance from a soft exosuit.Scientific reports · 2022Article
- Exploring surface electromyography (EMG) as a feedback variable for the human-in-the-loop optimization of lower limb wearable robotics.Frontiers in neurorobotics · 2022Article
- Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loads.Journal of neuroengineering and rehabilitation · 2021Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
8 authors.
Funding
Abstract
backgroundAutonomous exoskeletons will need to be useful at a variety of walking speeds, but it is unclear how optimal hip-knee-ankle exoskeleton assistance should change with speed. Biological joint moments tend to increase with speed, and in some cases, optimized ankle exoskeleton torques follow a similar trend. Ideal hip-knee-ankle exoskeleton torque may also increase with speed. The purpose of this study was to characterize the relationship between walking speed, optimal hip-knee-ankle exoskeleton assistance, and the benefits to metabolic energy cost.
methodsWe optimized hip-knee-ankle exoskeleton assistance to reduce metabolic cost for three able-bodied participants walking at 1.0 m/s, 1.25 m/s and 1.5 m/s. We measured metabolic cost, muscle activity, exoskeleton assistance and kinematics. We performed Friedman's tests to analyze trends across walking speeds and paired t-tests to determine if changes from the unassisted conditions to the assisted conditions were significant.
resultsExoskeleton assistance reduced the metabolic cost of walking compared to wearing the exoskeleton with no torque applied by 26%, 47% and 50% at 1.0, 1.25 and 1.5 m/s, respectively. For all three participants, optimized exoskeleton ankle torque was the smallest for slow walking, while hip and knee torque changed slightly with speed in ways that varied across participants. Total applied positive power increased with speed for all three participants, largely due to increased joint velocities, which consistently increased with speed.
conclusionsExoskeleton assistance is effective at a range of speeds and is most effective at medium and fast walking speeds. Exoskeleton assistance was less effective for slow walking, which may explain the limited success in reducing metabolic cost for patient populations through exoskeleton assistance. Exoskeleton designers may have more success when targeting activities and groups with faster walking speeds. Speed-related changes in optimized exoskeleton assistance varied by participant, indicating either the benefit of participant-specific tuning or that a wide variety of torque profiles are similarly effective.
Indexed as
Identifiers
What OpenQuestion holds
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.