{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T07:16:03Z","timestamp":1788419763898,"version":"build-2803163510"},"reference-count":32,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T00:00:00Z","timestamp":1788393600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Bioeng. Biotechnol."],"abstract":"\n Introduction<\/jats:title>\n Maintaining appropriate foot-ground contact is important for walker-assisted lower-limb exoskeleton training. Excessive plantar loading may increase initial-contact impact and actuator load, whereas excessive unloading may reduce frictional contact and contact stability. Passive spring support can provide impact buffering, but it cannot adjust the support working point according to gait phase or plantar-pressure feedback.<\/jats:p>\n <\/jats:sec>\n \n Methods<\/jats:title>\n This study proposes a multi-zone plantar-pressure-guided position control method for the support-force adjustment plate of a walker-assisted lower-limb exoskeleton. The system combines a fixed-stiffness spring with a vertical screw-driven adjustment plate. Total plantar pressure was obtained by fusing signals from 18 pressure cells on each instrumented foot and served as the main feedback variable. Regional plantar pressures and the center of pressure supported gait-phase recognition and contact-state estimation. A phase-related plantar-pressure target band was used as an engineering constraint to maintain stable foot-ground contact. Experiments involved three healthy male participants under no-spring, passive-spring, and proposed-control conditions during low-speed frame-assisted walking.<\/jats:p>\n <\/jats:sec>\n \n Results and discussion<\/jats:title>\n \n In the proposed-control condition, peak total plantar pressure was\n \n \n \n 0.687<\/mml:mn>\n \u00b1<\/mml:mo>\n 0.015<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n BW, 21.2% lower than in the no-spring condition and 6.7% lower than in the passive-spring condition. Relative to the no-spring condition, the loading rate decreased from\n \n \n \n 9.02<\/mml:mn>\n \u00b1<\/mml:mo>\n 0.53<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n to\n \n \n \n 2.56<\/mml:mn>\n \u00b1<\/mml:mo>\n 0.07<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n BW\/s, and the initial-contact impact impulse decreased from\n \n \n \n 0.143<\/mml:mn>\n \u00b1<\/mml:mo>\n 0.009<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n to\n \n \n \n 0.064<\/mml:mn>\n \u00b1<\/mml:mo>\n 0.002<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n BW\n \n \n \n \u22c5<\/mml:mo>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n s. Hip-knee actuator electrical energy decreased from\n \n \n \n 38.95<\/mml:mn>\n \u00b1<\/mml:mo>\n 2.20<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n to\n \n \n \n 27.24<\/mml:mn>\n \u00b1<\/mml:mo>\n 1.54<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n J\/gait cycle. After vertical-axis actuator energy was included, measured total actuator electrical energy was\n \n \n \n 30.60<\/mml:mn>\n \u00b1<\/mml:mo>\n 1.68<\/mml:mn>\n <\/mml:mrow>\n <\/mml:math>\n <\/jats:inline-formula>\n J\/gait cycle and remained lower than in both comparison conditions. These preliminary results suggest that plantar-pressure feedback can regulate support-plate position, attenuate contact impact, and reduce measured robotic actuator effort during low-speed walker-assisted walking.\n <\/jats:p>\n <\/jats:sec>","DOI":"10.3389\/fbioe.2026.1911004","type":"journal-article","created":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T06:40:27Z","timestamp":1788417627000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Plantar-pressure-guided support-plate position control for a walker-assisted lower-limb rehabilitation exoskeleton"],"prefix":"10.3389","volume":"14","author":[{"given":"Yuhui","family":"Yang","sequence":"first","affiliation":[{"name":"College of Mechanical and Marine Engineering, Beibu Gulf University","place":["Qinzhou, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wenyu","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Automation, Guangxi University of Science and Technology","place":["Liuzhou, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanxiang","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Mechanical and Marine Engineering, Beibu Gulf University","place":["Qinzhou, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhijue","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Marine Engineering, Beibu Gulf University","place":["Qinzhou, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xueshan","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Beijing Institute of Technology","place":["Beijing, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Han","sequence":"additional","affiliation":[{"name":"College of Mechanical and Marine Engineering, Beibu Gulf University","place":["Qinzhou, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junlin","family":"Deng","sequence":"additional","affiliation":[{"name":"College of Mechanical and Marine Engineering, Beibu Gulf University","place":["Qinzhou, China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,9,3]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"11104","DOI":"10.3390\/app122111104","article-title":"The energy consumption and robust case torque control of a rehabilitation hip exoskeleton","volume":"12","author":"Andersson","year":"2022","journal-title":"Appl. Sci."},{"key":"B2","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1109\/tro.2024.3502226","article-title":"Hip-knee-ankle rehabilitation exoskeleton with compliant actuators: from human-robot interaction control to clinical evaluation","volume":"41","author":"Chen","year":"2025","journal-title":"IEEE Trans. Robotics"},{"key":"B3","doi-asserted-by":"publisher","first-page":"23336","DOI":"10.1109\/jsen.2023.3305024","article-title":"Walking speed estimation and gait classification using plantar pressure and on-device deep learning","volume":"23","author":"Cho","year":"2023","journal-title":"IEEE Sensors J."},{"key":"B4","doi-asserted-by":"publisher","first-page":"5814","DOI":"10.3390\/ijerph19105814","article-title":"Effects of robot-assisted gait training with body weight support on gait and balance in stroke patients","volume":"19","author":"Choi","year":"2022","journal-title":"Int. J. Environ. Res. Public Health"},{"key":"B5","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1186\/s12984-022-01119-y","article-title":"Under pressure: design and validation of a pressure-sensitive insole for ankle plantar flexion biofeedback during neuromuscular gait training","volume":"19","author":"Conner","year":"2022","journal-title":"J. NeuroEngineering Rehabilitation"},{"key":"B6","doi-asserted-by":"publisher","first-page":"4632","DOI":"10.1109\/lra.2021.3068691","article-title":"Control and evaluation of body weight support walker for overground gait training","volume":"6","author":"Dong","year":"2021","journal-title":"IEEE Robotics Automation Lett."},{"key":"B7","doi-asserted-by":"publisher","first-page":"100107","DOI":"10.1016\/j.rico.2022.100107","article-title":"Biomechanical design and control of an eight DOF human lower extremity rehabilitation exoskeleton robot","volume":"7","author":"Hasan","year":"2022","journal-title":"Results Control Optim."},{"key":"B8","doi-asserted-by":"publisher","first-page":"19463","DOI":"10.1038\/s41598-023-46885-4","article-title":"Disturbance rejection model predictive control of lower limb rehabilitation exoskeleton","volume":"13","author":"Jin","year":"2023","journal-title":"Sci. Rep."},{"key":"B9","doi-asserted-by":"publisher","first-page":"161576","DOI":"10.1109\/access.2021.3131613","article-title":"Deep learning-based multimodal abnormal gait classification using a 3d skeleton and plantar foot pressure","volume":"9","author":"Jun","year":"2021","journal-title":"IEEE Access"},{"key":"B10","doi-asserted-by":"publisher","first-page":"105651","DOI":"10.1016\/j.conengprac.2023.105651","article-title":"Optimal phase-based gait guidance control on a lower-limb exoskeleton","volume":"139","author":"Laubscher","year":"2023","journal-title":"Control Eng. Pract."},{"key":"B11","doi-asserted-by":"publisher","first-page":"1579","DOI":"10.1109\/lra.2023.3234813","article-title":"Lower limb exoskeleton - energy optimization of bipedal walking with energy recycling - modeling and simulation","volume":"8","author":"Lee","year":"2023","journal-title":"IEEE Robotics Automation Lett."},{"key":"B12","doi-asserted-by":"publisher","first-page":"7367","DOI":"10.1109\/tcyb.2023.3253181","article-title":"Active human-following control of an exoskeleton robot with body weight support","volume":"53","author":"Li","year":"2023","journal-title":"IEEE Trans. Cybern."},{"key":"B13","doi-asserted-by":"publisher","first-page":"28869","DOI":"10.1109\/jsen.2024.3435884","article-title":"DCNN-SVM-based gait phase recognition with inertia, EMG, and insole plantar pressure sensing","volume":"24","author":"Liu","year":"2024","journal-title":"IEEE Sensors J."},{"key":"B14","doi-asserted-by":"publisher","first-page":"11326","DOI":"10.3390\/app122211326","article-title":"Relationships between body weight support and gait speed parameters and muscle activity and torque during robot-assisted gait training in non-neurological adults: a preliminary investigation","volume":"12","author":"Park","year":"2022","journal-title":"Appl. Sci."},{"key":"B15","doi-asserted-by":"publisher","first-page":"413","DOI":"10.5194\/ms-14-413-2023","article-title":"Motion planning and control strategy of a cable-driven body weight support gait training robot","volume":"14","author":"Qin","year":"2023","journal-title":"Mech. Sci."},{"key":"B16","doi-asserted-by":"publisher","first-page":"436","DOI":"10.1007\/s42235-022-00289-8","article-title":"Systematic review on wearable lower extremity robotic exoskeletons for assisted locomotion","volume":"20","author":"Qiu","year":"2023","journal-title":"J. Bionic Eng."},{"key":"B17","doi-asserted-by":"publisher","first-page":"3780","DOI":"10.3390\/s21113780","article-title":"Design of a plantar pressure insole measuring system based on modular photoelectric pressure sensor unit","volume":"21","author":"Ren","year":"2021","journal-title":"Sensors"},{"key":"B18","doi-asserted-by":"publisher","first-page":"602","DOI":"10.1007\/s41315-023-00283-1","article-title":"Gait phase recognition of multi-mode locomotion based on multi-layer perceptron for the plantar pressure measurement system","volume":"7","author":"Ren","year":"2023","journal-title":"Int. J. Intelligent Robotics Appl."},{"key":"B19","doi-asserted-by":"publisher","first-page":"614559","DOI":"10.3389\/fspor.2020.614559","article-title":"Gastrocnemius medialis contractile behavior is preserved during 30% body weight supported gait training","volume":"2","author":"Richter","year":"2021","journal-title":"Front. Sports Act. Living"},{"key":"B20","doi-asserted-by":"publisher","first-page":"1275","DOI":"10.1017\/s0263574722001709","article-title":"Development of a novel body weight support system for gait rehabilitation","volume":"41","author":"Rodrigues","year":"2023","journal-title":"Robotica"},{"key":"B21","doi-asserted-by":"publisher","first-page":"900","DOI":"10.3390\/mi13060900","article-title":"A wearable lower limb exoskeleton: reducing the energy cost of human movement","volume":"13","author":"Tang","year":"2022","journal-title":"Micromachines"},{"key":"B22","doi-asserted-by":"publisher","first-page":"184","DOI":"10.1016\/j.isatra.2021.10.009","article-title":"Adaptive interaction torque-based AAN control for lower limb rehabilitation exoskeleton","volume":"128","author":"Wang","year":"","journal-title":"ISA Trans."},{"key":"B23","doi-asserted-by":"publisher","first-page":"105660","DOI":"10.1016\/j.clinbiomech.2022.105660","article-title":"Design of a control framework for lower limb exoskeleton rehabilitation robot based on predictive assessment","volume":"95","author":"Wang","year":"","journal-title":"Clin. Biomech."},{"key":"B24","doi-asserted-by":"publisher","first-page":"623","DOI":"10.3390\/biomimetics10090623","article-title":"Abnormal gait phase recognition and limb angle prediction in lower-limb exoskeletons","volume":"10","author":"Wang","year":"2025","journal-title":"Biomimetics"},{"key":"B25","doi-asserted-by":"publisher","first-page":"1110099","DOI":"10.3389\/fbioe.2023.1110099","article-title":"Effects of age, body height, body weight, body mass index and handgrip strength on the trajectory of the plantar pressure stance-phase curve of the gait cycle","volume":"11","author":"Wolff","year":"2023","journal-title":"Front. Bioeng. Biotechnol."},{"key":"B26","doi-asserted-by":"publisher","first-page":"e44948","DOI":"10.2196\/44948","article-title":"Characteristic changes of the stance-phase plantar pressure curve when walking uphill and downhill: cross-sectional study","volume":"26","author":"Wolff","year":"2024","journal-title":"J. Med. Internet Res."},{"key":"B27","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2021\/8833461","article-title":"Lower-limb-assisting robotic exoskeleton reduces energy consumption in healthy young persons during stair climbing","volume":"2021","author":"Woo","year":"2021","journal-title":"Appl. Bionics Biomechanics"},{"key":"B28","doi-asserted-by":"publisher","first-page":"163","DOI":"10.3390\/sym15010163","article-title":"Gait phase classification of lower limb exoskeleton based on a compound network model","volume":"15","author":"Xia","year":"2023","journal-title":"Symmetry"},{"key":"B29","doi-asserted-by":"publisher","first-page":"864","DOI":"10.3390\/machines11090864","article-title":"Design and gait control of an active lower limb exoskeleton for walking assistance","volume":"11","author":"Yu","year":"2023","journal-title":"Machines"},{"key":"B30","doi-asserted-by":"publisher","first-page":"202","DOI":"10.3390\/act13060202","article-title":"Passive and active training control of an omnidirectional mobile exoskeleton robot for lower limb rehabilitation","volume":"13","author":"Yu","year":"2024","journal-title":"Actuators"},{"key":"B31","doi-asserted-by":"publisher","first-page":"103693","DOI":"10.1016\/j.bspc.2022.103693","article-title":"Gait phase recognition of lower limb exoskeleton system based on the integrated network model","volume":"76","author":"Zhang","year":"2022","journal-title":"Biomed. Signal Process. Control"},{"key":"B32","doi-asserted-by":"publisher","first-page":"e2405064","DOI":"10.1002\/smll.202405064","article-title":"A plantar pressure detection and gait analysis system based on flexible triboelectric pressure sensor array and deep learning","volume":"21","author":"Zhou","year":"2025","journal-title":"Small"}],"container-title":["Frontiers in Bioengineering and Biotechnology"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fbioe.2026.1911004\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,3]],"date-time":"2026-09-03T06:40:28Z","timestamp":1788417628000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fbioe.2026.1911004\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9,3]]},"references-count":32,"alternative-id":["10.3389\/fbioe.2026.1911004"],"URL":"https:\/\/doi.org\/10.3389\/fbioe.2026.1911004","relation":{},"ISSN":["2296-4185"],"issn-type":[{"value":"2296-4185","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,9,3]]},"article-number":"1911004"}}