Mixed-Terrain

Improving the Energy Cost of Incline Walking and Stair Ascent with Ankle Exoskeleton Assistance in Cerebral Palsy

Author(s): Ying Fang, Greg Orekhov, Zachary F. Lerner
Improving the Energy Cost of Incline Walking and Stair Ascent with Ankle Exoskeleton Assistance in Cerebral Palsy 150 150 IEEE Transactions on Biomedical Engineering (TBME)
Graded walking terrains pose significant mobility challenges for individuals with movement disorders, including those with cerebral palsy (CP). We tested the ability of a novel battery-powered ankle exoskeleton to improve stair, incline, and real-world mixed-terrain walking in seven individuals with CP. Adaptive ankle assistance improved the energy cost of steady-state incline walking by 14% and stair ascent by 21% compared to walking without the device. This is the first study to demonstrate safety and performance benefits of ankle exoskeleton assistance on graded terrains in CP, and it encourages future studies to evaluate assistance on mixed-terrain walking in free-living environments. read more