ArticleIEEE transactions on bio-medical engineering2022
Improving the Energy Cost of Incline Walking and Stair Ascent With Ankle Exoskeleton Assistance in Cerebral Palsy.
Article in IEEE transactions on bio-medical engineering, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed.
- Diff-MomentFormer: Generative Diffusion-Augmented Transformer for End-to-End Joint Moment Estimation.Sensors (Basel, Switzerland) · 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
- A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Feasibility of Using Autonomous Ankle Exoskeletons to Augment Community Walking in Cerebral Palsy.IEEE open journal of engineering in medicine and biology · 2025Article
- Advancing Gait Rehabilitation: A Systematic Review of Robotic Exoskeletons for Cerebral Palsy.Wearable technologies · 2025Review
- Article
- Walking on Real-world Terrain with an Ankle Exoskeleton in Cerebral Palsy.IEEE transactions on medical robotics and bionics · 2024Article
- Effects of ankle exoskeleton assistance and plantar pressure biofeedback on incline walking mechanics and muscle activity in cerebral palsy.Journal of biomechanics · 2024Article
- Advances on mechanical designs for assistive ankle-foot orthoses.Frontiers in bioengineering and biotechnology · 2023Review
- Feasibility evaluation of a dual-mode ankle exoskeleton to assist and restore community ambulation in older adults.Wearable technologies · 2022Article
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Authors and funding
3 authors.
Funding
Abstract
objectiveMany individuals with cerebral palsy (CP) experience gait deficits resulting in metabolically-inefficient ambulation that is exacerbated by graded walking terrains. The primary goal of this study was to clinically-validate the accuracy and efficacy of adaptive ankle exoskeleton assistance during steady-state incline walking and stair ascent in individuals with CP. Exploratory goals were to assess safety and feasibility of using adaptive ankle exoskeleton assistance in real-world mixed-terrain settings.
methodsWe used a novel battery-powered ankle exoskeleton to provide adaptive ankle plantar-flexor assistance during stance phase. Seven ambulatory individuals with CP completed the study.
resultsAdaptive controller accuracy was 85% for incline walking and 81% for stair-stepping relative to the biological ankle moment. Assistance improved energy cost of steady-state incline walking by 14% (p = 0.004) and stair ascent by 21% (p = 0.001) compared to walking without the device. Assistance reduced the muscular demand for the soleus and vastus lateralis during both activities. All participants were able to safely complete the real-world mixed-terrain route, with adaptive ankle assistance resulting in improved outcomes compared to walking with the device providing zero-torque; no group-level differences were found compared to walking without the device, yet individuals with more impairment exhibited a marked improvement.
conclusionAdaptive ankle exoskeleton assistance can improve the energy cost of steady-state incline walking and stair ascent in individuals with CP. SIGNIFICANCE: As the first study to demonstrate safety and performance benefits of ankle assistance on graded terrains in CP, these findings encourage further investigation in free-living settings.
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