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Related Experiment Video

Updated: Nov 24, 2025

Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
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Does a Passive Unilateral Lower Limb Exoskeleton Affect Human Static and Dynamic Balance Control?

Steffen Ringhof1,2, Isabel Patzer3, Jonas Beil3

  • 1Department of Sport and Sport Science, University of Freiburg, Freiburg, Germany.

Frontiers in Sports and Active Living
|December 21, 2020
PubMed
Summary

A passive lower limb exoskeleton improved static balance in single-leg stance but impaired dynamic reactive balance control. This highlights the need to consider human motor control in exoskeleton design.

Keywords:
balancebiomechanicsbracesexoskeletonhuman-technology-interactionmotor controlposturography

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Area of Science:

  • Biomechanics
  • Human-Computer Interaction
  • Rehabilitation Engineering

Background:

  • Exoskeletons are wearable devices designed to augment human physical capabilities by interacting with the musculoskeletal system.
  • Understanding human-exoskeleton interaction is crucial for developing safe and effective assistive devices, particularly concerning motor control.
  • Passive lower limb exoskeletons offer potential benefits but their impact on balance requires thorough investigation.

Purpose of the Study:

  • To investigate the effects of a passive unilateral lower limb exoskeleton on static and dynamic reactive balance control in healthy individuals.
  • To determine if the exoskeleton influences postural sway during bipedal and single-leg stance.
  • To assess the exoskeleton's impact on the ability to regain stability following external perturbations.

Main Methods:

  • Eleven healthy participants performed static (bipedal and single-leg stance) and dynamic reactive balance tasks (single-leg stance with platform perturbations).
  • Balance was assessed with and without a passive unilateral lower limb exoskeleton using force plates and motion capture systems.
  • Key metrics included center of pressure mean sway velocity and time to stabilization.

Main Results:

  • The exoskeleton did not significantly affect postural sway during bipedal stance.
  • A significant reduction in mediolateral center of pressure sway velocity was observed during single-leg stance with the exoskeleton.
  • Participants exhibited a trend towards slower stability recovery (longer time to stabilization) with the exoskeleton during dynamic perturbations.

Conclusions:

  • Passive lower limb exoskeletons may offer benefits for static balance in challenging postures like single-leg stance.
  • The exoskeleton's potential to impair dynamic reactive balance control, possibly by hindering compensatory adjustments, is a critical finding.
  • Future exoskeleton design and application must prioritize understanding and integrating human motor control mechanisms for optimal performance and safety.