(1) Background: In neurorehabilitation, Wearable Powered Exoskeletons (WPEs) enable intensive gait training even in individuals who are unable to maintain an upright position. The importance of WPEs is not only related to their impact on walking recovery, but also to the possibility of using them as assistive technology; however, WPE-assisted community ambulation has rarely been studied in terms of walking performance in real-life scenarios. (2) Methods: This study proposes the integration of an Inertial Measurement Unit (IMU) system to analyze gait kinematics during real-life outdoor scenarios (regular, irregular terrains, and slopes) by comparing the ecological gait (no-WPE condition) and WPE-assisted gait in five able-bodied volunteers. The temporal parameters of gait and joint angles were calculated from data collected by a network of seven IMUs. (3) Results: The results showed that the WPE-assisted gait had less knee flexion in the stance phase and greater hip flexion in the swing phase. The different scenarios did not change the human–exoskeleton interaction: only the low-speed WPE-assisted gait was characterized by a longer double support phase. (4) Conclusions: The proposed IMU-based gait assessment protocol enabled quantification of the human–exoskeleton interaction in terms of gait kinematics and paved the way for the study of WPE-assisted community ambulation in stroke patients.


    Access

    Download


    Export, share and cite



    Title :

    Kinematic analysis of exoskeleton-assisted community ambulation: an observational study in outdoor real-life scenarios



    Publication date :

    2022-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Multivariate analysis of walker-assisted ambulation

    Martins, Maria M. / Santos, Cristina / Costa, L. et al. | BASE | 2013

    Free access

    AMBULATION ASSISTANCE DEVICE

    KITAMOTO HIROSHI / KOZUKI KENICHI / OONISHI HIDECHIKA et al. | European Patent Office | 2021

    Free access

    Monocoque ambulation aid

    KNOPOW JEREMY F / HARRIS JENNIFER R | European Patent Office | 2016

    Free access

    A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance

    Dhal Arpeet / Majhi Durgeshwar / Rout Ashish Kumar et al. | DOAJ | 2024

    Free access

    Kinematic and dynamic assessment of trunk exoskeleton

    Panero E. / Segagliari M. / Pastorelli S. et al. | BASE | 2021

    Free access