Natural Human Biomechanical Adaptation Behavior during the Active Ankle Exoskeleton-Assisted Locomotion

This study investigates the natural human biomechanical adaptation behavior during active ankle exoskeleton-assisted locomotion. By analyzing lower-limb kinematics and metabolic cost responses, we aim to unveil how individuals intuitively adopt unique strategies when using exoskeletons. Rather than relying on end-state and averaged statistical reporting, we examine the changes in joint kinematics and metabolic cost throughout the course of the experiment, offering insights into understanding personal differences in adaptation processes. Additionally, a novel quantitative method for defining the steady state of metabolic cost is explored. Our preliminary results highlight significant differences in individual adaptation strategies, providing a different perspective in human-centric investigation toward studying the human-exoskeleton adaptation processes.