ArticleIEEE open journal of engineering in medicine and biology2023
Neuromechanical Adaptation to Walking With Electromechanical Ankle Exoskeletons Under Proportional Myoelectric Control.
Article in IEEE open journal of engineering in medicine and biology, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed, 9 citations in OpenAlex.
- Effects of Ankle Exoskeleton Motor Location on Gait Biomechanics and User Perceptions: The Bowden Cable Dilemma.IEEE transactions on medical robotics and bionics · 2025Article
- Comprehensive multi-metric analysis of user experience and performance in adaptive and non-adaptive lower-limb exoskeletons.PloS one · 2025Article
- Effect of walking with an active ankle exoskeleton on the biomechanical responses of the lumbar spine.Frontiers in bioengineering and biotechnology · 2025Article
- Gait variability of outdoor vs treadmill walking with bilateral robotic ankle exoskeletons under proportional myoelectric control.PloS one · 2023Article
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Authors and funding
2 authors at 1 institution in 1 country.
Funding
Abstract
objectiveTo determine if robotic ankle exoskeleton users decrease triceps surae muscle activity when using proportional myoelectric control, we studied healthy young participants walking with commercially available electromechanical ankle exoskeletons (Dephy Exoboot) with a novel controller. The vast majority of robotic lower limb exoskeletons do not have direct neural input from the user which makes adaptation of exoskeleton dynamics based on user intent difficult. Proportional myoelectric control has proven to allow considerable adaptation in muscle activation and gait kinematics in pneumatic, tethered ankle exoskeletons. In this study we quantified the changes in muscle activity and joint biomechanics of twelve participants walking for 30 minutes on a treadmill.
resultsThe exoskeletons provided 29% of the peak total ankle power and 18% of the peak total ankle moment by the end of the practice session. There was a decrease of 12% in soleus, 17% in lateral gastrocnemius and 5% in medial gastrocnemius electromyography (EMG) root mean square (root mean squared) after walking with the exoskeleton for 30 minutes compared to not wearing the exoskeleton, but this difference was not statistically significant. There were no differences in joint biomechanics of the ankle, hip, or knee between the end of training compared to walking without the exoskeletons.
conclusionsContrary to expectations, triceps surae muscle activity showed only small non-significant decreases in 30 minutes of walking with portable, electromechanical ankle exoskeletons under proportional myoelectric control. The commercially available ankle exoskeletons were likely too weak to produce a statistically meaningful decline in triceps surae recruitment. Future research should include a wider variety of tasks, including measurements of metabolic energy expenditure, and provide a longer period of adaptation to evaluate the ankle exoskeletons.
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