Step Timing Change over Time During Wearable Exoskeleton-Assisted Gait Training: A Cross-Sectional Study

Area of Science:

• Robotics
• Biomechanics
• Human-Computer Interaction

Background:

• Wearable Power-Assist Locomotor (WPAL) devices offer potential for gait rehabilitation.
• Understanding user adaptation during initial training is crucial for effective WPAL use.
• Novice users require specific protocols to optimize interaction with assistive robotic devices.

Purpose of the Study:

• To analyze the timing of foot-off and initial contact during the first walking session with a WPAL.
• To evaluate novice users' adaptation to WPAL-assisted locomotion.
• To identify timing discrepancies in user-device interaction for improved training.

Main Methods:

• Eight healthy novice participants underwent a 60-minute walking training session with a WPAL.
• Kinematic data on foot-off and initial contact timing were collected.
• Analysis focused on median timing differences within predefined appropriate ranges.

Main Results:

• Foot-off timing was generally within the appropriate range (median: -0.44 s).
• Initial contact timing occurred earlier than the appropriate range for all participants (median: -0.17 s).
• Consistent early initial contact suggests a need for user adaptation guidance.

Conclusions:

• Novice users exhibit specific timing patterns during initial WPAL training, particularly with initial contact.
• Findings highlight the need for tailored practice protocols to ensure stable walking with wearable robotic exoskeletons.
• This research can inform the development of effective training strategies for patients with spinal cord injury using WPALs.