ArticleIEEE robotics and automation letters2025
Adjustable Compliance Footwear Technology to Investigate Gait Adaptation.
Article in IEEE robotics and automation letters, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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Who cites it
1 citing paper in PubMed.
- Gait Adaptation to Asymmetric Foot-Ground Compliance Applied by Robotic Footwear.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2026Article
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Authors and funding
7 authors.
Funding
Abstract
Kinetic asymmetries in gait caused by neuropathology are a major factor in mobility deficiency. Gait perturbation training has shown promise for rehabilitating neurological gait asymmetry, but the transfer of benefits from treadmill training to overground walking is limited. To enable kinetic gait perturbation training on treadmills and overground, we developed novel adjustable compliance footwear technology. The system consists of a wearable pneumatic actuation module which controls the pressure of custom air pockets embedded in a soft lattice midsole, and is capable of independently and wirelessly adjusting the midsole compliance under each foot from 300 kN/m and 60% energy absorption to 18 kN/m and 75% energy absorption in about 4 seconds. Hindfoot and forefoot sole deflection data are measured via Hall effect sensors and paired magnets characterized to 1.7 mm accuracy. To demonstrate the experimental capability of the system, we successfully triggered multiple compliance changes during overground walking and recorded ground reaction forces and embedded sensor values during a prolonged asymmetric compliance walking bout on a treadmill. Future work will include a full experimental study of gait adaptation to asymmetric footwear compliance perturbations.
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