Skip to main content

Table 1 Studies that have investigated human adaptation processes while walking with assistance from a wearable robot

From: Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation

Study Walking speed (m/s) Supported DoF Controller Peak support Metabolic effect size Adaptation time (min)
Sawicki [19] 1.25 Ankle PF Myoelectric 100 W − 10%  ~ 90
Galle [20] 1.36 Ankle PF Kinematic 245 W − 16.6% 18.5
Koller [48] 1.2 Ankle PF Myoelectric 144 W − 17.8%  ~ 30
Panizzolo [25] 1.5b Hip E Kinematic 300 N − 10.5%  ~ 10
Here 0.9a Hip E, Knee E Kinematic 100 N − 5.1% 10 (~ 880 steps)
  1. PF Plantarflexion, E Extension
  2. aInclined 10°; bLoaded walking (20.4 kg)