ArticleScientific reports2022
Foot contact forces can be used to personalize a wearable robot during human walking.
Article in Scientific reports, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed, 24 citations in OpenAlex.
- Investigations on the Effects of a Passive Standing-from-Squatting and Gait Assistive Exoskeleton on Human Motion.Bioengineering (Basel, Switzerland) · 2025Article
- Interference-free nanogap pressure sensor array with high spatial resolution for wireless human-machine interfaces applications.Nature communications · 2025Article
- Exploring the electrical robustness of conductive textile fasteners for wearable devices in different human motion conditions.Scientific reports · 2024Article
- Biosignal-integrated robotic systems with emerging trends in visual interfaces: A systematic review.Biophysics reviews · 2024Review
- Predicting the metabolic cost of exoskeleton-assisted squatting using foot pressure features and machine learning.Frontiers in robotics and AI · 2023Article
- Discernment on assistive technology for the care and support requirements of older adults and differently-abled individuals.Frontiers in public health · 2022Review
Corrections and comments
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Authors and funding
7 authors at 3 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Individuals with below-knee amputation (BKA) experience increased physical effort when walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The walking effort could be further reduced if the robot is personalized to the wearer using human-in-the-loop (HIL) optimization of wearable robot parameters. The conventional physiological measurement, however, requires a long estimation time, hampering real-time optimization due to the limited experimental time budget. This study hypothesized that a function of foot contact force, the symmetric foot force-time integral (FFTI), could be used as a cost function for HIL optimization to rapidly estimate the physical effort of walking. We found that the new cost function presents a reasonable correlation with measured metabolic cost. When we employed the new cost function in HIL ankle-foot prosthesis stiffness parameter optimization, 8 individuals with simulated amputation reduced their metabolic cost of walking, greater than 15% (p < 0.02), compared to the weight-based and control-off conditions. The symmetry cost using the FFTI percentage was lower for the optimal condition, compared to all other conditions (p < 0.05). This study suggests that foot force-time integral symmetry using foot pressure sensors can be used as a cost function when optimizing a wearable robot parameter.
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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.