[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"health-study-detail:100623233":3},{"organization":4,"armGroups":7,"interventions":14,"overallOfficials":21,"centralContacts":26,"locations":32,"responsibleParty":46,"collaborators":48,"id":51,"slug":52,"hasResults":53,"nctId":54,"briefTitle":55,"officialTitle":56,"acronym":20,"eligibilityCriteria":57,"healthyVolunteers":58,"sex":59,"minAge":60,"maxAge":61,"enrollmentInfo":62,"targetDuration":20,"studyType":65,"phases":66,"briefSummary":68,"conditions":69,"keywords":71,"overallStatus":77,"whyStopped":20,"lastUpdateSubmitDate":78,"lastUpdatePostDateStruct":79,"startDateStruct":82,"completionDateStruct":83,"leadSponsor":85,"locationsCount":86},{"fullName":5,"class":6},"University of Nebraska","OTHER",[8],{"label":9,"type":10,"description":11,"interventionNames":12},"Single-Arm Study of a Personalized Robotic Ankle Exoskeleton Controller","EXPERIMENTAL","This arm employs a within-subject design with two methods of estimating metabolic cost versus the gold standard measure of metabolic cost, wherein a single participant is subjected to two distinct measurements. This design allows for a direct comparison of the effects of each method (i.e., estimation versus gold standard) within the same individual, minimizing intersubject variability and enhancing the statistical power of the analysis.",[13],"Device: Adaptive Torque Control System for Ankle Exoskeleton",[15],{"type":16,"name":17,"description":18,"armGroupLabels":19,"otherNames":20},"DEVICE","Adaptive Torque Control System for Ankle Exoskeleton","This intervention uses a robotic ankle exoskeleton equipped with a real-time adaptive controller that adjusts plantarflexion torque based on each participant's walking mechanics. Unlike standard exoskeleton controllers that use fixed or pre-programmed assistance levels, this system employs human-in-the-loop optimization to continuously update torque magnitude and timing during treadmill walking. The controller integrates metabolic estimations, kinematic data, and musculoskeletal modeling to identify individualized assistance patterns that reduce walking effort and improve muscle activation efficiency. Participants complete multiple walking trials while the controller automatically modifies assistance to determine the optimal personalized settings.",[9],null,[22],{"name":23,"affiliation":24,"role":25},"Farah Fallahtafti, PhD","Department of Biomechanics, University of Nebraska at Omaha","PRINCIPAL_INVESTIGATOR",[27],{"name":28,"role":29,"phone":30,"phoneExt":20,"email":31},"Farah Fallahtafi, PhD","CONTACT","4025543075","ffallahtafti@unomaha.edu",[33],{"facility":34,"status":20,"city":35,"state":36,"zip":37,"country":38,"countryCode":39,"cosmosGeoPoint":40,"geoPoint":45,"contacts":20},"Biomechanics Research Building, University of Nebraska at Omaha","Omaha","Nebraska","68108","United States","US",{"type":41,"coordinates":42},"Point",[43,44],-95.94043,41.25626,{"lat":44,"lon":43},{"type":47,"investigatorFullName":20,"investigatorTitle":20,"investigatorAffiliation":20,"oldNameTitle":20,"oldOrganization":20},"SPONSOR",[49],{"name":50,"class":6},"Madonna Rehabilitation Hospital","100623233","development-of-a-real-time-controller-to-estimate-walking-performance-using-a-bilateral-ankle-exoskeleton-100623233",false,"NCT07393971","Development of a Real-time Controller to Estimate Walking Performance Using a Bilateral Ankle Exoskeleton","Controller Development to Enable Individualized Assistance in Robotic Ankle Exoskeletons","Inclusion Criteria:\n\n* able to walk independently on a treadmill for 10 minutes,\n* free of neurological, cardiovascular, pulmonary, or musculoskeletal conditions that limit walking and exercising,\n* no current lower extremity pain or injury,\n* able to wear an exoskeleton and safety harness, can provide informed consent\n\nExclusion Criteria:\n\n* history of neurological disease that affected gait or balance,\n* current or recent lower extremity musculoskeletal injury or surgery,\n* chronic lower extremity pain during walking,\n* inability to participate in moderate-intensity exercise,\n* require an assistive device for walking,\n* any metabolic or systemic diseases that may be exacerbated by exercise",true,"ALL","19 Years","35 Years",{"count":63,"type":64},6,"ESTIMATED","INTERVENTIONAL",[67],"NA","This study is developing and testing a new controller for a robotic ankle exoskeleton (Biomotum) that can adjust itself in real time to better support people while they walk. The system learns how each person moves and automatically changes the amount and timing of assistance to make walking feel easier and more efficient. By using information from the person wearing the device, the exoskeleton can quickly find the level of support that works best for them. The long-term goal is to create personalized walking assistance that can help people with mobility limitations move more comfortably and with less effort.",[70],"Healthy Young Adults",[72,73,74,75,76],"robotic ankle exoskeleton","human-in-the-loop optimization","wearable robotics","musculoskeletal modeling","muscle activation analysis","NOT_YET_RECRUITING","2026-06-01",{"date":80,"type":81},"2026-06-02","ACTUAL",{"date":78,"type":64},{"date":84,"type":64},"2026-12",{"name":5,"class":6},1]