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Here, we show that it is possible to reduce the metabolic rate of healthy participants by 48% with a greater efficiency ratio of metabolic cost reduction per unit of net aiding work compared with other assistive robots. This result was obtained using a sinusoidal force profile with peak timing during the middle of the double support. The same timing could also reduce the metabolic rate in patients with peripheral artery disease. A model explains that the optimal force profile accelerates the center of mass into the inverted pendulum movement during single support. Contrary to the hypothesis, the optimal force timing did not entirely coincide with propulsion. Within the field of wearable robotics, there is a trend to use devices to mimic biological torque or force profiles. Such bioinspired actuation can have relevant benefits; however, our results demonstrate that this is not necessarily optimal for reducing metabolic rate.<\/jats:p>","DOI":"10.1126\/scirobotics.abh1925","type":"journal-article","created":{"date-parts":[[2022,3,16]],"date-time":"2022-03-16T17:59:05Z","timestamp":1647453545000},"source":"Crossref","is-referenced-by-count":17,"title":["Metabolically efficient walking assistance using optimized timed forces at the waist"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8927-1274","authenticated-orcid":true,"given":"Prokopios","family":"Antonellis","sequence":"first","affiliation":[{"name":"Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, 6160 University Drive South, Omaha, NE 68182, USA."},{"name":"Department of Neurology, School of Medicine, Oregon Health &amp; Science University, 3181 SW Sam Jackson Park Road, OP-32, Portland, OR 97239, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4535-0325","authenticated-orcid":true,"given":"Arash","family":"Mohammadzadeh Gonabadi","sequence":"additional","affiliation":[{"name":"Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, 6160 University Drive South, Omaha, NE 68182, USA."},{"name":"Rehabilitation Engineering Center, Institute for Rehabilitation Science and Engineering, Madonna Rehabilitation Hospital, 5401 South Street, Lincoln, NE 68506, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2934-2624","authenticated-orcid":true,"given":"Sara A.","family":"Myers","sequence":"additional","affiliation":[{"name":"Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, 6160 University Drive South, Omaha, NE 68182, USA."},{"name":"Department of Surgery and Research Service, Veterans Affairs Nebraska-Western Iowa Medical Center, Omaha, NE 68105, USA."}]},{"given":"Iraklis I.","family":"Pipinos","sequence":"additional","affiliation":[{"name":"Department of Surgery and Research Service, Veterans Affairs Nebraska-Western Iowa Medical Center, Omaha, NE 68105, USA."},{"name":"Department of Surgery, University of Nebraska Medical Center, 982500 Nebraska Medical Center, Omaha, NE 68198, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4110-4167","authenticated-orcid":true,"given":"Philippe","family":"Malcolm","sequence":"additional","affiliation":[{"name":"Department of Biomechanics and Center for Research in Human Movement Variability, University of Nebraska at Omaha, 6160 University Drive South, Omaha, NE 68182, USA."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00374-3"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2016.2521160"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.1427703"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00670.2002"},{"key":"e_1_3_2_6_2","first-page":"68","article-title":"Analysis of a periodic force applied to the trunk to assist walking gait","author":"Bhat S. 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