Development of a Real-time Controller to Estimate Walking Performance Using a Bilateral Ankle Exoskeleton

Part of paid clinical trials in Omaha, Nebraska.

Sponsor
University of Nebraska
Study ID
NCT07393971
Status
Not Yet Recruiting

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Conditions

  • Healthy Young Adults

Eligibility Criteria

Sex
ALL
Age
19 Years - 35 Years
Healthy Volunteers
Accepted

Interventions

  • Adaptive Torque Control System for Ankle Exoskeleton — DEVICE
    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.

Study Details

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.

Key Dates

Start date
Jun 1, 2026
Status verified
Dec 2025
Primary completion
Aug 31, 2026
Completion
Dec 31, 2026

Study Design

Enrollment
6 participants (estimated)
Allocation
NA
Intervention model
SINGLE_GROUP
Primary purpose
DEVICE_FEASIBILITY

Arms

  • Experimental: Single-Arm Study of a Personalized Robotic Ankle Exoskeleton Controller
    This arm employs a within-subject design with two methods of estimating metabolic cost versus the gold standard measure of metabolic cost, wherein a single participant is subjected to two distinct measurements. This design allows for a direct comparison of the effects of each method (i.e., estimation versus gold standard) within the same individual, minimizing intersubject variability and enhancing the statistical power of the analysis.

Primary Outcome Measure

Successful Real-Time Operation of the Robotic Ankle Exoskeleton Controller [ Time Frame: through study completion, an average of 1 year ]

Central Contacts

Locations (1)

FacilityCityStateZIPSite coordinators
Biomechanics Research Building, University of Nebraska at OmahaOmahaNebraska68108-

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By research site
Biomechanics Research Building, University of Nebraska at Omaha· Omaha, NE

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