ArticleScience robotics2022
Metabolically efficient walking assistance using optimized timed forces at the waist.
Article in Science robotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed.
- Dynamic stability is tied to gait assistance when walking with a hip exoskeleton.Scientific reports · 2026Article
- Leveraging anteroposterior force oscillations to assist walking.Scientific reports · 2026Article
- EMG-Based Simulation for Optimization of Human-in-the-Loop Control in Simple Robotic Walking Assistance.Journal of sensor and actuator networks · 2025Article
- Biomechanical models in the lower-limb exoskeletons development: a review.Journal of neuroengineering and rehabilitation · 2025Review
- Amplitude and frequency of human gait synchronization with a machine oscillator system.Scientific reports · 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
- Estimating within-stride metabolic cost from stride-average data using autoencoders and expander networks.Frontiers in bioengineering and biotechnology · 2025Article
- How Gait Nonlinearities in Individuals Without Known Pathology Describe Metabolic Cost During Walking Using Artificial Neural Network and Multiple Linear Regression.Applied sciences (Basel, Switzerland) · 2024Article
- Perturbation-based estimation of within-stride cycle metabolic cost.Journal of neuroengineering and rehabilitation · 2024Article
- Design and Evaluation of a Bilateral Semi-Rigid Exoskeleton to Assist Hip Motion.Biomimetics (Basel, Switzerland) · 2024Article
- Symmetrical Efficient Gait Planning Based on Constrained Direct Collocation.Micromachines · 2023Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
The metabolic rate of walking can be reduced by applying a constant forward force at the center of mass. It has been shown that the metabolically optimal constant force magnitude minimizes propulsion ground reaction force at the expense of increased braking. This led to the hypothesis that selectively assisting propulsion could lead to greater benefits. We used a robotic waist tether to evaluate the effects of forward forces with different timings and magnitudes. Here, we show that it is possible to reduce the metabolic rate of healthy participants by 48% with a greater efficiency ratio of metabolic cost reduction per unit of net aiding work compared with other assistive robots. This result was obtained using a sinusoidal force profile with peak timing during the middle of the double support. The same timing could also reduce the metabolic rate in patients with peripheral artery disease. A model explains that the optimal force profile accelerates the center of mass into the inverted pendulum movement during single support. Contrary to the hypothesis, the optimal force timing did not entirely coincide with propulsion. Within the field of wearable robotics, there is a trend to use devices to mimic biological torque or force profiles. Such bioinspired actuation can have relevant benefits; however, our results demonstrate that this is not necessarily optimal for reducing metabolic rate.
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