Step Timing Change over Time During Wearable Exoskeleton-Assisted Gait Training: A Cross-Sectional Study

This study aimed to investigate the timing of foot-off and initial contact at the end of the first walking training session with a Wearable Power-Assist Locomotor (WPAL) in novice healthy users. Eight healthy volunteers with no walking experience with the WPAL participated in this study. The participants walked back and forth on a straight 5 m path for 60 min with the WPAL. We calculated the differences between the participant’s foot-off and initial contact timing, as well as the start and end timing of the pre-programmed WPAL lower-limb swing time. Data were divided into four segments of 100 data points. We calculated the median of the last 100 data points and examined whether it falls within an appropriate time range. The foot-off timing tended to be within the appropriate time range (median, −0.44 s); however, the initial contact timing was earlier than the appropriate time range (median, −0.17 s). Although some participants performed foot-off within the appropriate time range, all performed initial contact earlier than the appropriate time range. These findings may contribute to establishing practice protocols for stable walking with wearable robotic exoskeletons in patients with spinal cord injury.