ArticleJournal of neuroengineering and rehabilitation2023
Assisting walking balance using a bio-inspired exoskeleton controller.
Article in Journal of neuroengineering and rehabilitation, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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Who cites it
12 citing papers in PubMed.
- Design and Testing of a Wearable Lower-Limb Exoskeleton for Investigating Falls Prevention.Sensors (Basel, Switzerland) · 2026Article
- 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
- Center of Mass Feedback for joint torque control: a generalizable approach for balance augmentation in wearable robots.Research square · 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
- Biomechanical models in the lower-limb exoskeletons development: a review.Journal of neuroengineering and rehabilitation · 2025Review
- 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
- A Data-Driven Approach to Estimate Human Center of Mass State During Perturbed Locomotion Using Simulated Wearable Sensors.Annals of biomedical engineering · 2024Article
- Dynamic Duo: Design and Validation of an Autonomous Frontal and Sagittal Actuating Hip Exoskeleton for Balance Modulation During Perturbed Locomotion.IEEE robotics and automation letters · 2024Article
- Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons.Wearable technologies · 2024Article
- Balance recovery for lower limb exoskeleton in standing posture based on orbit energy analysis.Frontiers in bioengineering and biotechnology · 2024Article
- Bioinspired preactivation reflex increases robustness of walking on rough terrain.Scientific reports · 2023Article
- Editorial: Neuro-cognition in human movement: from fundamental experiments to bio-inspired innovation.Frontiers in neurologyArticle
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Authors and funding
8 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundBalance control is important for mobility, yet exoskeleton research has mainly focused on improving metabolic energy efficiency. Here we present a biomimetic exoskeleton controller that supports walking balance and reduces muscle activity.
methodsHumans restore balance after a perturbation by adjusting activity of the muscles actuating the ankle in proportion to deviations from steady-state center of mass kinematics. We designed a controller that mimics the neural control of steady-state walking and the balance recovery responses to perturbations. This controller uses both feedback from ankle kinematics in accordance with an existing model and feedback from the center of mass velocity. Control parameters were estimated by fitting the experimental relation between kinematics and ankle moments observed in humans that were walking while being perturbed by push and pull perturbations. This identified model was implemented on a bilateral ankle exoskeleton.
resultsAcross twelve subjects, exoskeleton support reduced calf muscle activity in steady-state walking by 19% with respect to a minimal impedance controller (p < 0.001). Proportional feedback of the center of mass velocity improved balance support after perturbation. Muscle activity is reduced in response to push and pull perturbations by 10% (p = 0.006) and 16% (p < 0.001) and center of mass deviations by 9% (p = 0.026) and 18% (p = 0.002) with respect to the same controller without center of mass feedback.
conclusionOur control approach implemented on bilateral ankle exoskeletons can thus effectively support steady-state walking and balance control and therefore has the potential to improve mobility in balance-impaired individuals.
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