Keywords

Ankle, Exoskeleton, Ground walking, Cable-driven, Gait asymmetry, Dorsiflexor resistance, Plantarflexor resistance, Virtual spring

Abstract

Lower‑limb exoskeletons are often used to study gait symmetry, but most existing work still focuses on assistive control strategies. Much less is known about how controlled resistance influences gait, even though resisting motion places different demands on the neuromuscular system and may lead to adaptations that assistance does not produce. The present study investigates how a unilateral ankle exoskeleton applying controlled resistance affects gait symmetry during self‑paced, level‑ground walking. The device used is the open‑source OpenExo platform, which allows ankle torque to be adjusted across several resistance levels. A single healthy adult completed walking trials under two conditions: a baseline condition and multiple resistance trials applied to the same side. Stance time was used to evaluate symmetry across conditions. This study is intended to get a better sense of how individuals react when resistance is applied to only one ankle, and whether that uneven loading shifts their gait patterns. The results may offer some insight into how resistance‑focused exoskeleton strategies could be used in rehabilitation to support gait training and motor adaptation.

Thesis Completion Year

2026

Thesis Completion Semester

Spring

Thesis Chair

Wen, Yue

College

College of Engineering and Computer Science

Department

Mechanical and Aerospace Engineering

Thesis Discipline

Mechanical Engineering

Language

English

Access Status

Campus Access

Length of Campus Access

3 years

Campus Location

Orlando (Main) Campus

Download

Restricted to the UCF community until 5-15-2029; it will then be open access.

Share

COinS
 

Accessibility Statement

This item was created or digitized prior to April 24, 2027, or is a reproduction of legacy media created before that date. It is preserved in its original, unmodified state specifically for research, reference, or historical recordkeeping. In accordance with the ADA Title II Final Rule, the University Libraries provides accessible versions of archival materials upon request. To request an accommodation for this item, please submit an accessibility request form.

Rights Statement

In Copyright