Personalizing exoskeleton assistance while walking in the real world

Personalized exoskeleton assistance provides users with the largest improvements in walking speed and energy economy⁴⁻⁶ but requires lengthy tests under unnatural laboratory conditions. Here we show that exoskeleton optimization can be performed rapidly and under real-world conditions. We designed a portable ankle exoskeleton based on insights from tests with a versatile laboratory testbed. We developed a data-driven method for optimizing exoskeleton assistance outdoors using wearable sensors and found that it was equally effective as laboratory methods, but identified optimal parameters four times faster. We performed real-world optimization using data collected during many short bouts of walking at varying speeds. Assistance optimized during one hour of naturalistic walking in a public setting increased self-selected speed by 9 ± 4% and reduced the energy used to travel a given distance by 17 ± 5% compared with normal shoes. This assistance reduced metabolic energy consumption by 23 ± 8% when participants walked on a treadmill at a standard speed of 1.5 m s⁻¹. Human movements encode information that can be used to personalize assistive devices and enhance performance.

Patrick Slade, Mykel J. Kochenderfer, Scott L. Delp, Steven H. Collins