Effects of Exoskeleton-Generated Perturbations on Overground Walking

This study investigates how exoskeleton-induced perturbations affect step length and step height during overground walking. Specifically, we demonstrate the biomechanical effects of generating a net force at the ankle by controlling hip and knee actuators. Clinical Relevance— This work provides a framework to understand how interaction forces between the user and the robot affect the biomechanics of overground walking, offering valuable insights for the development of rehabilitation protocols that incorporate exoskeleton-assisted gait training.