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Development of a Real-time Controller to Estimate Walking Performance Using a Bilateral Ankle Exoskeleton
Controller Development to Enable Individualized Assistance in Robotic Ankle Exoskeletons
Who can join
Ages 19 to 35 · All sexes · Healthy volunteers welcome
Full eligibility criteria
Inclusion Criteria: * able to walk independently on a treadmill for 10 minutes, * free of neurological, cardiovascular, pulmonary, or musculoskeletal conditions that limit walking and exercising, * no current lower extremity pain or injury, * able to wear an exoskeleton and safety harness, can provide informed consent Exclusion Criteria: * history of neurological disease that affected gait or balance, * current or recent lower extremity musculoskeletal injury or surgery, * chronic lower extremity pain during walking, * inability to participate in moderate-intensity exercise, * require an assistive device for walking, * any metabolic or systemic diseases that may be exacerbated by exercise
About the study
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.
What is being tested
- Adaptive Torque Control System for Ankle Exoskeleton (device)
Sponsor: University of Nebraska · Participants: 6 · Started: Aug 15, 2026
Contact the study team
- Farah Fallahtafi, PhD · Phone: 4025543075
Official record on ClinicalTrials.gov — NCT07393971
Locations in the U.S.
| Nebraska | Biomechanics Research Building, University of Nebraska at Omaha, Omaha |
From ClinicalTrials.gov, data retrieved Nov 15, 2026. Each study sets its own eligibility; the study team decides who can join.