{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T09:59:08Z","timestamp":1780912748739,"version":"3.54.1"},"reference-count":42,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2025,9,21]],"date-time":"2025-09-21T00:00:00Z","timestamp":1758412800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["P2-0228"],"award-info":[{"award-number":["P2-0228"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Despite rapid growth in the body of research on ankle exoskeletons, we have so far not seen their massive adoption in clinical rehabilitation. We foresee that an ankle exo best suited to rehabilitation use should possess the power generation capabilities of state-of-the-art active exos as well as the simplistic control and inherently suitable assistance timing seen in passive exos. In this paper we present and evaluate our attempt to create such a hybrid device: an Ankle Exoskeleton with Treadmill Actuation for Push-off Assistance. Using our device, we assisted a group of able-bodied individuals in generating ankle plantarflexion torque and power while measuring changes in biomechanics and electromyographic activity. Changes were mostly contained to the ankle joint, where a reduction in biological power and torque generation was observed in proportion to provided exo assistance. Assistance was comparable to state-of-the-art active exos in both timing and torque trajectory shape and well synchronized with the user\u2019s own biological efforts, despite using a very simplistic controller.<\/jats:p>","DOI":"10.3390\/biomimetics10090635","type":"journal-article","created":{"date-parts":[[2025,9,22]],"date-time":"2025-09-22T12:08:03Z","timestamp":1758542883000},"page":"635","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Biomimetic Treadmill-Driven Ankle Exoskeleton: A Study in Able-Bodied Individuals"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0009-0007-8366-3115","authenticated-orcid":false,"given":"Matej","family":"Tomc","sequence":"first","affiliation":[{"name":"University Rehabilitation Institute Republic of Slovenia-So\u010da, 1000 Ljubljana, Slovenia"},{"name":"Faculty of Electrical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia"},{"name":"Department of Biomechanical Engineering, Faculty of Engineering Technology, University of Twente, 7500 AE Enschede, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2746-6890","authenticated-orcid":false,"given":"Matja\u017e","family":"Zadravec","sequence":"additional","affiliation":[{"name":"University Rehabilitation Institute Republic of Slovenia-So\u010da, 1000 Ljubljana, Slovenia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrej","family":"Olen\u0161ek","sequence":"additional","affiliation":[{"name":"University Rehabilitation Institute Republic of Slovenia-So\u010da, 1000 Ljubljana, Slovenia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zlatko","family":"Matja\u010di\u0107","sequence":"additional","affiliation":[{"name":"University Rehabilitation Institute Republic of Slovenia-So\u010da, 1000 Ljubljana, Slovenia"},{"name":"Faculty of Electrical Engineering, University of Ljubljana, 1000 Ljubljana, Slovenia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1098\/rsif.2011.0182","article-title":"The mechanics and energetics of human walking and running: A joint level perspective","volume":"9","author":"Farris","year":"2012","journal-title":"J. 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