{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"institution":[{"name":"bioRxiv"}],"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T19:01:59Z","timestamp":1768503719248,"version":"3.49.0"},"posted":{"date-parts":[[2023,2,6]]},"group-title":"Neuroscience","reference-count":22,"publisher":"openRxiv","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"accepted":{"date-parts":[[2023,2,6]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                <jats:p>Wearable robotic exoskeletons hold great promise for gait rehabilitation as portable, accessible tools. However, a better understanding of the potential for exoskeletons to elicit neural adaptation\u2014a critical component of neurological gait rehabilitation\u2014is needed. In this study, we investigated whether humans adapt to bilateral asymmetric stiffness perturbations applied by a hip exoskeleton, taking inspiration from asymmetry augmentation strategies used in split-belt treadmill training. During walking, we applied torques about the hip joints to repel the thigh away from a neutral position on the left side and attract the thigh toward a neutral position on the right side. Six participants performed an adaptation walking trial on a treadmill while wearing the exoskeleton. The exoskeleton elicited time-varying changes and aftereffects in step length and propulsive\/braking ground reaction forces, indicating behavioral signatures of neural adaptation. These responses resemble typical responses to split-belt treadmill training, suggesting that the proposed intervention with a robotic hip exoskeleton may be an effective approach to (re)training symmetric gait.<\/jats:p>","DOI":"10.1101\/2023.02.06.527337","type":"posted-content","created":{"date-parts":[[2023,2,7]],"date-time":"2023-02-07T02:15:13Z","timestamp":1675736113000},"source":"Crossref","is-referenced-by-count":0,"title":["Bilateral asymmetric hip stiffness applied by a robotic hip exoskeleton elicits kinematic and kinetic adaptation"],"prefix":"10.64898","author":[{"given":"Banu","family":"Abdikadirova","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mark","family":"Price","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4640-8573","authenticated-orcid":false,"given":"Jonaz Moreno","family":"Jaramillo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wouter","family":"Hoogkamer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Meghan E.","family":"Huber","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"54368","reference":[{"key":"2023020906451361000_2023.02.06.527337v1.1","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2007.08.142"},{"key":"2023020906451361000_2023.02.06.527337v1.2","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2009.10.014"},{"key":"2023020906451361000_2023.02.06.527337v1.3","doi-asserted-by":"publisher","DOI":"10.1097\/00004356-198806000-00012"},{"key":"2023020906451361000_2023.02.06.527337v1.4","doi-asserted-by":"publisher","DOI":"10.1093\/brain\/awm035"},{"issue":"7","key":"2023020906451361000_2023.02.06.527337v1.5","doi-asserted-by":"crossref","first-page":"735","DOI":"10.1177\/1545968309332880","article-title":"Split-belt treadmill adaptation transfers to overground walking in persons poststroke","volume":"23","year":"2009","journal-title":"Neurorehabilitation and neural repair"},{"issue":"5","key":"2023020906451361000_2023.02.06.527337v1.6","doi-asserted-by":"crossref","first-page":"460","DOI":"10.1177\/1545968312474118","article-title":"Repeated split-belt treadmill training improves poststroke step length asymmetry","volume":"27","year":"2013","journal-title":"Neurorehabilitation and neural repair"},{"key":"2023020906451361000_2023.02.06.527337v1.7","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2018.10.027.Paretic"},{"key":"2023020906451361000_2023.02.06.527337v1.8","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1016\/j.jelekin.2018.04.008","article-title":"More symmetrical gait after split-belt treadmill walking does not modify dynamic and postural balance in individuals post-stroke","volume":"41","year":"2018","journal-title":"Journal of Electromyography and Kinesiology"},{"key":"2023020906451361000_2023.02.06.527337v1.9","doi-asserted-by":"crossref","unstructured":"J. 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Walsh , \u201cA lightweight and efficient portable soft exosuit for paretic ankle assistance in walking after stroke,\u201d in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 2820\u20132827.","DOI":"10.1109\/ICRA.2018.8461046"},{"issue":"4","key":"2023020906451361000_2023.02.06.527337v1.10","doi-asserted-by":"crossref","first-page":"1794","DOI":"10.1109\/TMECH.2020.2995134","article-title":"Quasi-direct drive actuation for a lightweight hip exoskeleton with high backdrivability and high bandwidth","volume":"25","year":"2020","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"2023020906451361000_2023.02.06.527337v1.11","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-016-0176-z"},{"issue":"1","key":"2023020906451361000_2023.02.06.527337v1.12","first-page":"1","article-title":"The exoskeleton expansion: improving walking and running economy","volume":"17","year":"2020","journal-title":"Journal of neuroengineering and rehabilitation"},{"issue":"6","key":"2023020906451361000_2023.02.06.527337v1.13","first-page":"650","article-title":"A robotic exoskeleton for treatment of crouch gait in children with cerebral palsy: Design and initial application","volume":"25","year":"2016","journal-title":"IEEE Transactions on Neural Systems and Rehabilitation Engineering"},{"key":"2023020906451361000_2023.02.06.527337v1.14","doi-asserted-by":"crossref","unstructured":"M. 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