ArticleFrontiers in robotics and AI2026
Effect of a robotic insole-type active assist device on horizontal ground reaction force and center-of-pressure stability during stepping in patients with medial knee osteoarthritis.
Article in Frontiers in robotics and AI, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
An insole-type active assist device has been developed as a robotic system to dynamically correct ankle alignment at heel contact in patients with medial knee osteoarthritis. Although our previous feasibility study demonstrated that the device could be safely used during an on-the-spot stepping task, its effects on loading behavior remain unclear. This study aimed to investigate whether dynamic ankle alignment correction using the device alters horizontal ground reaction force variability and center-of-pressure sway during stepping. Force-plate data obtained from six ambulatory patients with medial knee osteoarthritis were analyzed as a secondary biomechanical analysis. Each participant performed repeated stepping trials under two conditions: a non-control condition, in which the device was worn without motor control, and a control condition, in which heel-eversion assistance was provided. Stance phases were extracted using vertical ground reaction force, and horizontal ground reaction force components, center-of-pressure sway measures, peak vertical ground reaction force, and vertical impulse were calculated. Compared with the non-control condition, the control condition reduced the ranges of anterior-posterior and medial-lateral ground reaction force components in all participants. Center-of-pressure rectangular sway area also decreased consistently, and trajectory length tended to decrease, whereas peak vertical ground reaction force and vertical impulse showed little change. These findings suggest that dynamic ankle alignment correction using a robotic insole-type device may reduce horizontal loading variability and center-of-pressure sway during stepping without substantially altering vertical loading. Because this study was based on a small sample and an exploratory secondary analysis, the findings should be interpreted as preliminary biomechanical evidence rather than evidence of clinical effectiveness.
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