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Table 1 Detailed device specifications for exoskeletons that improved healthy, natural walking, and/or running economy versus using no device

From: The exoskeleton expansion: improving walking and running economy

Number

LeadAuthor

Year

Metabolic Reduction (%)

Sample Size

Target Joint(s)

Auto /Tethered

Active /Passive

Walk /Run

Speed (m/s)

Mode

Device Mass (kg)

Note

1

G Sawicki

2009

14

9

Ankle

Tethered

Active

Walk

1.25

Level Ground

2.36

Long Step Lengths

2

P Malcolm

2013

6

8

Ankle

Tethered

Active

Walk

1.38

Level Ground

1.52

 

3

L Mooney

2014a

8

7

Ankle

Autonomous

Active

Walk

1.5

Level Ground

4

Load Carry (23 kg)

4

L Mooney

2014b

10

7

Ankle

Autonomous

Active

Walk

1.4

Level Ground

3.6

 

5

S Collins

2015

7.2

9

Ankle

Autonomous

Passive

Walk

1.25

Level Ground

0.91

 

6

L Mooney

2016

11

6

Ankle

Autonomous

Active

Walk

1.4

Level Ground

3.6

 

7

K Seo

2016

13.2

5

Hip

Autonomous

Active

Walk

1.17

Level Ground

2.8

 

8

G Lee

2017

5.4

8

Hip

Tethered

Active

Run

2.5

Level Ground

0.81

 

9

S Galle

2017

12

10

Ankle

Tethered

Active

Walk

1.25

Level Ground

1.78

 

10

Y Lee

2017

13.2

5

Hip

Autonomous

Active

Walk

1.14

Level Ground

2.6

 

11

K Seo

2017

15.5

5

Hip

Autonomous

Active

Walk

1.17

Inclined Slope

2.4

5% grade

12

H Lee

2017

7

30

Hip

Autonomous

Active

Walk

1.1

Level Ground

2.8

Elderly

13

R Nasiri

2018

8

10

Hip

Autonomous

Passive

Run

2.5

Level Ground

1.8

 

14

S Lee

2018

14.9

7

Hip, Ankle

Autonomous

Active

Walk

1.5

Level Ground

9.3

Load Carry (6.8 kg)

15

Y Ding

2018

17.4

8

Hip

Tethered

Active

Walk

1.25

Level Ground

1.37

 

16

J Kim

2018

3.9

8

Hip

Autonomous

Active

Run

2.5

Level Ground

4.7

Hybrid System

17

D Kim

2018

10.16

15

Hip

Autonomous

Active

Walk

N/A

Stair Ascent

2.8

Elderly/128 Steps

18

F Panizzolo

2019

3.3

9

Hip

Autonomous

Passive

Walk

1.1

Level Ground

0.65

Elderly

19

M MacLean

2019

4.2

4

Knee

Autonomous

Active

Walk

0.5

Inclined Slope

8.4

Load Carry (18.1 kg) / 15 deg incline

20

C Simpson

2019

6.4

12

Hip

Autonomous

Passive

Run

2.67

Level Ground

N/A

Ankle Attachment

21

J Kim

2019

9.3

9

Hip

Autonomous

Active

Walk

1.5

Level Ground

5

Hybrid System

22

J Kim

2019

4

9

Hip

Autonomous

Active

Run

2.5

Level Ground

5

Hybrid System

23

B Lim

2019

19.8

6

Hip

Autonomous

Active

Walk

1.11

Level Ground

2.1

 

24

C Khazoom

2019

5.6

8

Ankle

Tethered

Active

Walk

1.4

Level Ground

6.2

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