ArticleScience robotics2023
Exoskeletons need to react faster than physiological responses to improve standing balance.
Article in Science robotics, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 33 papers.
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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
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Who cites it
33 citing papers in PubMed.
- Effects of an actuated ankle exoskeleton on walking stability in healthy adults: a controlled laboratory study.Journal of neuroengineering and rehabilitation · 2026Trial
- Trial
- Effect of transcranial direct current stimulation over the primary motor cortex on short-term balance acquisition in healthy individuals.Journal of neuroengineering and rehabilitation · 2025Trial
- Center of mass feedback for joint torque control during perturbed standing: a potential generalizable control approach for balance augmentation in wearable robots.Journal of neuroengineering and rehabilitation · 2026Article
- Cortical response to balance perturbation is more sensitive in modern dancers than nondancers during biomechanically similar balance recovery.Journal of neurophysiology · 2026Article
- Center of Mass Feedback for joint torque control: a generalizable approach for balance augmentation in wearable robots.Research square · 2026Article
- Interaction-based rapid heuristic optimization of exoskeleton assistance during walking.Communications engineering · 2025Article
- Cortical response to balance perturbation is more sensitive in modern dancers than nondancers during biomechanically similar balance recovery.bioRxiv : the preprint server for biology · 2025Article
- Control Method in Coordinated Balance with the Human Body for Lower-Limb Exoskeleton Rehabilitation Robots.Biomimetics (Basel, Switzerland) · 2025Article
- Ankle Exoskeletons May Hinder Standing Balance in Simple Models of Older and Younger Adults.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- Center of mass states render multijoint torques throughout standing balance recovery.Journal of neurophysiology · 2025Article
- Agency-preserving robotic assistance for grasp slip recovery in body-powered prostheses.Frontiers in robotics and AI · 2025Article
- Temporal Evolution of Frontal Plane Center-of-Mass Transfer Asymmetry in Post-Stroke Gait.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- Soft back exosuit controlled by neuro-mechanical modeling provides adaptive assistance while lifting unknown loads and reduces lumbosacral compression forces.Wearable technologies · 2025Article
- A Hierarchical-Based Learning Approach for Multi-Action Intent Recognition.Sensors (Basel, Switzerland) · 2024Article
- Assisting Standing Balance Recovery for Parkinson's Patients with a Lower-Extremity Exoskeleton Robot.Sensors (Basel, Switzerland) · 2024Article
- Shoulder-assist exoskeleton effects on balance and muscle activity during a block-laying task on a simulated mast climber.International journal of industrial ergonomics · 2024Article
- Ankle Exoskeletons May Hinder Standing Balance in Simple Models of Older and Younger Adults.ArXiv · 2024Article
- Exploring the control of whole-body angular momentum in young and elderly based on the virtual pivot point concept.Royal Society open science · 2024Article
- Current State, Needs, and Opportunities for Wearable Robots in Military Medical Rehabilitation and Force Protection.Actuators · 2024Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
Maintaining balance throughout daily activities is challenging because of the unstable nature of the human body. For instance, a person's delayed reaction times limit their ability to restore balance after disturbances. Wearable exoskeletons have the potential to enhance user balance after a disturbance by reacting faster than physiologically possible. However, "artificially fast" balance-correcting exoskeleton torque may interfere with the user's ensuing physiological responses, consequently hindering the overall reactive balance response. Here, we show that exoskeletons need to react faster than physiological responses to improve standing balance after postural perturbations. Delivering ankle exoskeleton torque before the onset of physiological reactive joint moments improved standing balance by 9%, whereas delaying torque onset to coincide with that of physiological reactive ankle moments did not. In addition, artificially fast exoskeleton torque disrupted the ankle mechanics that generate initial local sensory feedback, but the initial reactive soleus muscle activity was only reduced by 18% versus baseline. More variance of the initial reactive soleus muscle activity was accounted for using delayed and scaled whole-body mechanics [specifically center of mass (CoM) velocity] versus local ankle-or soleus fascicle-mechanics, supporting the notion that reactive muscle activity is commanded to achieve task-level goals, such as maintaining balance. Together, to elicit symbiotic human-exoskeleton balance control, device torque may need to be informed by mechanical estimates of global sensory feedback, such as CoM kinematics, that precede physiological responses.
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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.