{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,11]],"date-time":"2026-04-11T13:23:28Z","timestamp":1775913808241,"version":"3.50.1"},"reference-count":76,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"60","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2021,11,10]]},"abstract":"<jats:p>An ankle exosuit tuned to the measured muscle dynamics of the user during multiple walking tasks improves energy economy.<\/jats:p>","DOI":"10.1126\/scirobotics.abj1362","type":"journal-article","created":{"date-parts":[[2021,11,10]],"date-time":"2021-11-10T18:56:54Z","timestamp":1636570614000},"source":"Crossref","is-referenced-by-count":124,"title":["Individualization of exosuit assistance based on measured muscle dynamics during versatile walking"],"prefix":"10.1126","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6543-2424","authenticated-orcid":true,"given":"R. W.","family":"Nuckols","sequence":"first","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8262-8314","authenticated-orcid":true,"given":"S.","family":"Lee","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7570-1408","authenticated-orcid":true,"given":"K.","family":"Swaminathan","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4067-2306","authenticated-orcid":true,"given":"D.","family":"Orzel","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1392-227X","authenticated-orcid":true,"given":"R. D.","family":"Howe","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2744-917X","authenticated-orcid":true,"given":"C. J.","family":"Walsh","sequence":"additional","affiliation":[{"name":"John A. Paulson School of Engineering and Applied Sciences and Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1093\/ageing\/26.1.15"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF03351489"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/sj.ijo.0800417"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00767.2005"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.01106.2002"},{"key":"e_1_3_2_7_2","first-page":"177","article-title":"Characteristics of the gait in old people who fall","volume":"2","author":"Guimaraes R. M.","year":"1980","unstructured":"R. M. Guimaraes, B. Isaacs, Characteristics of the gait in old people who fall. Disabil. Rehabil. 2, 177\u2013180 (1980).","journal-title":"Disabil. Rehabil."},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2006.10.025"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.parkreldis.2011.07.014"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/0361198196153800104"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)TE.1943-5436.0000251"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.161158"},{"key":"e_1_3_2_13_2","first-page":"1155","article-title":"Sex differences in incline-walking among humans","volume":"55","author":"Wall-Scheffler C. M.","year":"2015","unstructured":"C. M. Wall-Scheffler, Sex differences in incline-walking among humans. Integr. Comp. Biol. 55, 1155\u20131165 (2015).","journal-title":"Integr. Comp. Biol."},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2011.0182"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsos.180550"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aal5054"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar5438"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay9108"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-018-0410-y"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-11-151"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah4416"},{"key":"e_1_3_2_22_2","doi-asserted-by":"crossref","unstructured":"S. Lee S. Crea P. Malcolm I. Galiana A. Asbeck C. Walsh Controlling negative and positive power at the ankle with a soft exosuit in Proceedings of the 33rd IEEE International Conference on Robotics and Automation (ICRA) Stockholm Sweden 16 to 21 May 2016 pp. 3509\u20133515.","DOI":"10.1109\/ICRA.2016.7487531"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2018.11.023"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0086-5"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0015-7"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.275.5303.1113"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1107972109"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00189.2005"},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1006\/jtbi.1996.0271"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.1938.0050"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1152\/jappl.1997.83.3.867"},{"key":"e_1_3_2_32_2","first-page":"2150","article-title":"How muscle fiber lengths and velocities affect muscle force generation as humans walk and run at different speeds","volume":"216","author":"Arnold E. M.","year":"2013","unstructured":"E. M. Arnold, S. R. Hamner, A. Seth, M. Millard, S. L. Delp, How muscle fiber lengths and velocities affect muscle force generation as humans walk and run at different speeds. J. Exp. Biol. 216, 2150\u20132160 (2013).","journal-title":"J. Exp. Biol."},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2016.08.004"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00128.2015"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.017277"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1095-6433(02)00244-1"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1002\/jor.1100100623"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2019.2936383"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.017269"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0056137"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-017-0235-0"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2924852"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14288"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-016-0111-3"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-020-00663-9"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-020-00703-4"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2008.05.013"},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.182113"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2006.12.006"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-020-60360-4"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.01133.2014"},{"key":"e_1_3_2_52_2","article-title":"How adaptation, training, and customization contribute to benefits from exoskeleton assistance","author":"Poggensee K. L.","year":"2021","unstructured":"K. L. Poggensee, S. H. Collins, How adaptation, training, and customization contribute to benefits from exoskeleton assistance. bioRxiv 2021.04.25.440289 (2021).","journal-title":"bioRxiv"},{"key":"e_1_3_2_53_2","first-page":"2082","article-title":"Muscle-tendon mechanics explain unexpected effects of exoskeleton assistance on metabolic rate during walking","volume":"220","author":"Jackson R. W.","year":"2017","unstructured":"R. W. Jackson, C. L. Dembia, S. L. Delp, S. H. Collins, Muscle-tendon mechanics explain unexpected effects of exoskeleton assistance on metabolic rate during walking. J. Exp. Biol. 220, 2082\u20132095 (2017).","journal-title":"J. Exp. Biol."},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00596.2003"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1002\/jmor.10421"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1093\/icb\/icp006"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00775.2002"},{"key":"e_1_3_2_58_2","first-page":"359","article-title":"Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control","volume":"17","author":"Zajac F. E.","year":"1989","unstructured":"F. E. Zajac, Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control. Crit. Rev. Biomed. Eng. 17, 359\u2013411 (1989).","journal-title":"Crit. Rev. Biomed. Eng."},{"key":"e_1_3_2_59_2","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2015.2491224"},{"key":"e_1_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1080\/10255842.2016.1213818"},{"key":"e_1_3_2_61_2","first-page":"3539","article-title":"On the ascent: The soleus operating length is conserved to the ascending limb of the force-length curve across gait mechanics in humans","volume":"215","author":"Rubenson J.","year":"2012","unstructured":"J. Rubenson, N. J. Pires, H. O. Loi, G. J. Pinniger, D. G. Shannon, On the ascent: The soleus operating length is conserved to the ascending limb of the force-length curve across gait mechanics in humans. J. Exp. Biol. 215, 3539\u20133551 (2012).","journal-title":"J. Exp. Biol."},{"key":"e_1_3_2_62_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aav7536"},{"key":"e_1_3_2_63_2","doi-asserted-by":"crossref","unstructured":"R. W. Nuckols K. Swaminathan S. Lee L. Awad C. J. Walsh R. D. Howe Automated detection of soleus concentric contraction in variable gait conditions for improved exosuit control in Proceeding of the 2020 IEEE International Conference on Robotics and Automation (ICRA) Paris France 31 May to 31 August 2020 pp. 4855\u20134862.","DOI":"10.1109\/ICRA40945.2020.9197428"},{"key":"e_1_3_2_64_2","doi-asserted-by":"crossref","unstructured":"S. Lee N. Karavas B. T. Quinlivan D. LouiseRyan D. Perry A. Eckert-Erdheim P. Murphy T. G. Goldy N. Menard M. Athanassiu J. Kim G. Lee I. Galiana C. J. Walsh Autonomous multi-joint soft exosuit for assistance with walking overground in Proceeding of the IEEE International Conference on Robotics and Automation (ICRA) Brisbane QLD Australia 21 to 25 May 2018 pp. 2812\u20132819.","DOI":"10.1109\/ICRA.2018.8460972"},{"key":"e_1_3_2_65_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0709212105"},{"key":"e_1_3_2_66_2","doi-asserted-by":"crossref","unstructured":"G. Lee Y. Ding I. G. Bujanda N. Karavas Y. M. Zhou C. J. Walsh Improved assistive profile tracking of soft exosuits for walking and jogging with off-board actuation in Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) Vancouver BC Canada 24 to 28 September 2017 pp. 1699\u20131706.","DOI":"10.1109\/IROS.2017.8205981"},{"key":"e_1_3_2_67_2","doi-asserted-by":"crossref","unstructured":"M. Kim C. Liu J. Kim S. Lee A. Meguid C. J. Walsh S. Kuindersma Bayesian optimization of soft exosuits using a metabolic estimator stopping process in Proceedings of the International Conference on Robotics and Automation (ICRA) Montreal QC Canada 20 to 24 May 2019 pp. 9173\u20139179.","DOI":"10.1109\/ICRA.2019.8793817"},{"key":"e_1_3_2_68_2","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-11-80"},{"key":"e_1_3_2_69_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01950"},{"key":"e_1_3_2_70_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.01442.2005"},{"key":"e_1_3_2_71_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(02)00433-5"},{"key":"e_1_3_2_72_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cmpb.2016.02.016"},{"key":"e_1_3_2_73_2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.2009.173690"},{"key":"e_1_3_2_74_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2016.07.036"},{"key":"e_1_3_2_75_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.02434"},{"key":"e_1_3_2_76_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2013.02.023"},{"key":"e_1_3_2_77_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-009-9852-5"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abj1362","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T11:39:48Z","timestamp":1705405188000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abj1362"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,11,10]]},"references-count":76,"journal-issue":{"issue":"60","published-print":{"date-parts":[[2021,11,10]]}},"alternative-id":["10.1126\/scirobotics.abj1362"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abj1362","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,11,10]]},"article-number":"eabj1362"}}