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Related Experiment Video

Updated: May 14, 2026

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
09:46

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

Published on: June 16, 2016

Reducing muscle effort in walking through powered exoskeletons.

T Lenzi1, D Zanotto, P Stegall

  • 1BioRobotics Institute, Scuola Superiore sant’Anna, 56025 Pisa, Italy. lenzi@ ieee.org

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
|February 1, 2013
PubMed
Summary

This study introduces a new lower limb exoskeleton controller that adapts to user gait, reducing muscle effort during walking. This assistive technology enhances mobility and reduces user exertion for improved performance.

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Human-Machine Interaction

Background:

  • Lower limb exoskeletons show promise for augmenting human mobility and reducing metabolic cost.
  • Developing effective control strategies is crucial for seamless human-exoskeleton interaction and user acceptance.
  • Existing controllers often lack adaptability to individual user gait characteristics.

Purpose of the Study:

  • To present a novel assistive control strategy for lower limb exoskeletons.
  • To adapt a nominal torque profile online based on individual user gait features.
  • To evaluate the effectiveness of the proposed controller in reducing user muscle effort.

Main Methods:

  • Implementation of a novel assistive controller on the ALEX II exoskeleton.
  • Online adaptation of Winter's nominal torque profile to user-specific gait.
  • Testing the controller with two healthy subjects performing walking tasks.
  • Measurement of muscle effort during exoskeleton-assisted and free walking.

Main Results:

  • The proposed controller successfully adapted to individual gait patterns.
  • Exoskeleton-assisted walking resulted in reduced muscle effort compared to free walking.
  • Subjects demonstrated a lower metabolic cost when using the assistive controller.

Conclusions:

  • The novel assistive control strategy effectively reduces muscle effort in lower limb exoskeleton users.
  • Online adaptation of torque profiles enhances human-exoskeleton interaction and performance.
  • This approach holds potential for improving rehabilitation and assistive device applications.