{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T06:05:56Z","timestamp":1783749956282,"version":"3.55.0"},"reference-count":36,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"71","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,10,26]]},"abstract":"<jats:p>Exosuits have the potential to assist locomotion in both healthy and pathological populations, but the effect of exosuit assistance on the underlying muscle-tendon tissue loading is not yet understood. In this study, we used shear wave tensiometers to characterize the modulation of Achilles tendon force with load carriage and exosuit assistance at the ankle. When walking (1.25 m\/s) unassisted on a treadmill with load carriage weights of 15 and 30% of body weight, peak Achilles tendon force increased by 11 and 23%, respectively. Ankle exosuit assistance significantly reduced peak Achilles tendon force relative to unassisted, although the magnitude of change was variable across participants. Peak Achilles tendon force was significantly correlated with peak ankle torque for unassisted walking across load carriage conditions. However, when ankle plantarflexor assistance was applied, the relationship between peak tendon force and peak biological ankle torque was no longer significant. An outdoor pilot study was conducted in which a wearable shear wave tensiometer was used to measure Achilles tendon wave speed and compare across an array of assistance loading profiles. Reductions in tendon loading varied depending on the profile, highlighting the importance of in vivo measurements of muscle and tendon forces when studying and optimizing exoskeletons and exosuits.<\/jats:p>","DOI":"10.1126\/scirobotics.abq1514","type":"journal-article","created":{"date-parts":[[2022,10,19]],"date-time":"2022-10-19T17:58:07Z","timestamp":1666202287000},"source":"Crossref","is-referenced-by-count":41,"title":["Modulation of Achilles tendon force with load carriage and exosuit assistance"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3386-0918","authenticated-orcid":true,"given":"Dylan G.","family":"Schmitz","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6543-2424","authenticated-orcid":true,"given":"Richard W.","family":"Nuckols","sequence":"additional","affiliation":[{"name":"John A.\u00a0Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8262-8314","authenticated-orcid":true,"given":"Sangjun","family":"Lee","sequence":"additional","affiliation":[{"name":"John A.\u00a0Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5443-2090","authenticated-orcid":true,"given":"Tunc","family":"Akbas","sequence":"additional","affiliation":[{"name":"John A.\u00a0Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7570-1408","authenticated-orcid":true,"given":"Krithika","family":"Swaminathan","sequence":"additional","affiliation":[{"name":"John A.\u00a0Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2744-917X","authenticated-orcid":true,"given":"Conor J.","family":"Walsh","sequence":"additional","affiliation":[{"name":"John A.\u00a0Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7873-2477","authenticated-orcid":true,"given":"Darryl G.","family":"Thelen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah4416"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-017-0267-5"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abj1362"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14288"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-020-00703-4"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aal5054"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/scitranslmed.aai9084"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1097\/PHM.0000000000000800"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965072"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0015-7"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-019-0630-9"},{"key":"e_1_3_2_13_2","doi-asserted-by":"crossref","unstructured":"N.\u00a0L.\u00a0Tagliamonte A.\u00a0R.\u00a0Wu I.\u00a0Pisotta F.\u00a0Tamburella M.\u00a0Masciullo M.\u00a0Arquilla E.\u00a0H.\u00a0F. van Asseldonk H.\u00a0van der Kooij F.\u00a0Dzeladini A.\u00a0J.\u00a0Ijspeert M.\u00a0Molinari Benefits and potential of a neuromuscular controller for exoskeleton-assisted walking in Biosystems and Biorobotics (Springer Science and Business Media Deutschland GmbH 2022) vol. 27 pp.\u00a0281\u2013285.","DOI":"10.1007\/978-3-030-69547-7_46"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-020-60360-4"},{"key":"e_1_3_2_15_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. 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