Search research articles

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Design of a Low-Cost Solenoid Actuated Stance Control Knee Orthosis.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same author

A Simplified Approach to Automatic Stance Control of Unilateral Knee Exoskeletons.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same author

Biomechanical Consequences of Motion-Restricting Lower Extremity Orthoses.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same author

Design and Validation of a Cable-Driven Joint Actuator for Pediatric Knee Orthoses.

Journal of biomechanical engineering·2025

Same author

Experimental Evaluation of Machine Learning Models for Gait Segmentation.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same author

Preliminary Experimental Validation of a Cable-Driven Joint System for Custom Orthoses.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Search research articles

Related Experiment Video

Updated: Jan 9, 2026

Asymmetric Walkway: A Novel Behavioral Assay for Studying Asymmetric Locomotion

Asymmetric Walkway: A Novel Behavioral Assay for Studying Asymmetric Locomotion

Published on: January 15, 2016

Enhanced Gait Phase Estimation for Lower Limb Exoskeletons by Integrating Contralateral Leg Information.

Jacob A Strick, Jason J Wiebrecht, Ryan J Farris

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|December 3, 2025

Summary

This study introduces a new method using the contralateral leg to improve human gait phase estimation for lower limb exoskeleton control. This enhances accuracy, benefiting robot-assisted gait training for stroke rehabilitation.

More Related Videos

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

Related Experiment Videos

Last Updated: Jan 9, 2026

Asymmetric Walkway: A Novel Behavioral Assay for Studying Asymmetric Locomotion

Asymmetric Walkway: A Novel Behavioral Assay for Studying Asymmetric Locomotion

Published on: January 15, 2016

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

Area of Science:

Biomechanics
Robotics
Rehabilitation Engineering

Background:

Human gait phase estimation is crucial for controlling lower limb exoskeletons using biological signals.
Accurate gait phase estimation is essential to prevent device-user desynchronization and ensure proper torque application.
Current methods face challenges in achieving the high accuracy required for effective exoskeleton control.

Purpose of the Study:

To develop a novel method for improving human gait phase estimation accuracy.
To leverage contralateral leg information to enhance gait phase estimation.
To validate the proposed method's effectiveness in both able-bodied and hemiparetic individuals.

Main Methods:

A new algorithm was developed to incorporate contralateral leg data for gait phase estimation.
The method was tested using simulation data for able-bodied individuals.
Clinical data from three hemiparetic stroke patients were used to evaluate the method's performance.

Main Results:

A 75.2% reduction in estimation error was observed compared to state-of-the-art methods in able-bodied simulations.
An average of 47.6% reduction in estimation error was achieved with hemiparetic stroke patient data.
An overall Root Mean Square Error (RMSE) of 2.28% was demonstrated across all subjects.

Conclusions:

The proposed contralateral leg-based method significantly improves gait phase estimation accuracy.
This technique shows promise for enhancing the control of rehabilitative robotics, particularly lower limb exoskeletons.
Improved exoskeleton control can lead to greater user participation in robot-assisted gait training for stroke recovery.