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Development of a Real-time Controller to Estimate Walking Performance Using a Bilateral Ankle Exoskeleton
Sponsor: University of Nebraska
Summary
This study is developing and testing a new controller for a robotic ankle exoskeleton (Biomotum) that can adjust itself in real time to better support people while they walk. The system learns how each person moves and automatically changes the amount and timing of assistance to make walking feel easier and more efficient. By using information from the person wearing the device, the exoskeleton can quickly find the level of support that works best for them. The long-term goal is to create personalized walking assistance that can help people with mobility limitations move more comfortably and with less effort.
Official title: Controller Development to Enable Individualized Assistance in Robotic Ankle Exoskeletons
Key Details
Gender
All
Age Range
19 Years - 35 Years
Study Type
INTERVENTIONAL
Enrollment
6
Start Date
2026-02
Completion Date
2026-12
Last Updated
2026-02-06
Healthy Volunteers
Yes
Conditions
Interventions
Adaptive Torque Control System for Ankle Exoskeleton
This intervention uses a robotic ankle exoskeleton equipped with a real-time adaptive controller that adjusts plantarflexion torque based on each participant's walking mechanics. Unlike standard exoskeleton controllers that use fixed or pre-programmed assistance levels, this system employs human-in-the-loop optimization to continuously update torque magnitude and timing during treadmill walking. The controller integrates metabolic estimations, kinematic data, and musculoskeletal modeling to identify individualized assistance patterns that reduce walking effort and improve muscle activation efficiency. Participants complete multiple walking trials while the controller automatically modifies assistance to determine the optimal personalized settings.
Locations (1)
Biomechanics Research Building, University of Nebraska at Omaha
Omaha, Nebraska, United States