ArticleJournal of neuroengineering and rehabilitation2021
Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton.
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. It is linked to trial NCT04119063 (Evaluating Wearable Robotic Assistance on Gait Mechanics and Energetics in Individuals With Neurological Impairment), which is not on this map. Cited by 28 papers, 1 of them a synthesis that pooled it.
What it found
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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.
Evaluating Wearable Robotic Assistance on Gait Mechanics and Energetics in Individuals With Neurological Impairment
Who cites it
28 citing papers in PubMed, 1 synthesis or guideline pooled it, 86 citations in OpenAlex.
- 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
- The variable stiffness orthosis: customizable mechanics for assistance and rehabilitation.Journal of neuroengineering and rehabilitation · 2026Article
- Ankle Exoskeleton Assistance Reduces Knee Contact Force During Walking in Individuals With Cerebral Palsy.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2026Article
- Lower limb exoskeletons for older adults: key assistance parameters and evaluation of ankle assistive strategies via musculoskeletal modelling.Frontiers in sports and active living · 2026Article
- Effects of Ankle Exoskeleton Motor Location on Gait Biomechanics and User Perceptions: The Bowden Cable Dilemma.IEEE transactions on medical robotics and bionics · 2025Article
- Advancing Gait Rehabilitation: A Systematic Review of Robotic Exoskeletons for Cerebral Palsy.Wearable technologies · 2025Review
- Feasibility of Using Autonomous Ankle Exoskeletons to Augment Community Walking in Cerebral Palsy.IEEE open journal of engineering in medicine and biology · 2025Article
- Methodology for the knowledge-based selection of occupational exoskeletons.Production engineering : research and development · 2025Article
- Design and showcase of a stairs-based testbed for the benchmark of exoskeleton devices: The STEPbySTEP project.Wearable technologies · 2025Article
- Usability and Safety of the ATLAS 2030 Robotic Gait Device in Children with Cerebral Palsy and Spinal Muscular Atrophy.Children (Basel, Switzerland) · 2024Article
- A usability study on the inGAIT-VSO: effects of a variable-stiffness ankle-foot orthosis on the walking performance of children with cerebral palsy.Journal of neuroengineering and rehabilitation · 2024Article
- Walking on Real-world Terrain with an Ankle Exoskeleton in Cerebral Palsy.IEEE transactions on medical robotics and bionics · 2024Article
- Exoskeleton gait training on real-world terrain improves spatiotemporal performance in cerebral palsy.Frontiers in bioengineering and biotechnology · 2024Article
- Effects of ankle exoskeleton assistance and plantar pressure biofeedback on incline walking mechanics and muscle activity in cerebral palsy.Journal of biomechanics · 2024Article
- Active, Actuated, and Assistive: a Scoping Review of Exoskeletons for the Hands and Wrists.Canadian prosthetics & orthotics journal · 2024Article
- Multi-session adaptation to audiovisual and sensorimotor biofeedback is heterogeneous among adolescents with cerebral palsy.PloS one · 2024Article
- Audiovisual biofeedback amplifies plantarflexor adaptation during walking among children with cerebral palsy.Journal of neuroengineering and rehabilitation · 2023Article
- Factors influencing neuromuscular responses to gait training with a robotic ankle exoskeleton in cerebral palsy.Assistive technology : the official journal of RESNA · 2023Article
- How Adaptive Ankle Exoskeleton Assistance Affects Stability During Perturbed and Unperturbed Walking in the Elderly.Annals of biomedical engineering · 2023Article
- Predicting Neuromuscular Engagement to Improve Gait Training with a Robotic Ankle Exoskeleton.IEEE robotics and automation letters · 2023Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors at 2 institutions in 1 country.
Funding
Abstract
backgroundAnkle exoskeletons can improve walking mechanics and energetics, but few untethered devices have demonstrated improved performance and usability across a wide range of users and terrains. Our goal was to design and validate a lightweight untethered ankle exoskeleton that was effective across moderate-to-high intensity ambulation in children through adults with and without walking impairment.
methodsFollowing benchtop validation of custom hardware, we assessed the group-level improvements in walking economy while wearing the device in a diverse unimpaired cohort (n = 6, body mass = 42-92 kg). We also conducted a maximal exertion experiment on a stair stepping machine in a small cohort of individuals with cerebral palsy (CP, n = 5, age = 11-33 years, GMFCS I-III, body mass = 40-71 kg). Device usability metrics (device don and setup times and System Usability Score) were assessed in both cohorts.
resultsThere was a 9.9 ± 2.6% (p = 0.012, range = 0-18%) reduction in metabolic power during exoskeleton-assisted inclined walking compared to no device in the unimpaired cohort. The cohort with CP was able to ascend 38.4 ± 23.6% (p = 0.013, range = 3-132%) more floors compared to no device without increasing metabolic power (p = 0.49) or perceived exertion (p = 0.50). Users with CP had mean device don and setup times of 3.5 ± 0.7 min and 28 ± 6 s, respectively. Unimpaired users had a mean don time of 1.5 ± 0.2 min and setup time of 14 ± 1 s. The average exoskeleton score on the System Usability Scale was 81.8 ± 8.4 ("excellent").
conclusionsOur battery-powered ankle exoskeleton was easy to use for our participants, with initial evidence supporting effectiveness across different terrains for unimpaired adults, and children and adults with CP. Trial registration Prospectively registered at ClinicalTrials.gov (NCT04119063) on October 8, 2019.
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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.