SuspendedNot Applicable

Real-time Neuromuscular Control of Exoskeletons

Stopped: Study pending of funding that could not be secured

United States80 participantsStarted 2021-05-05

Plain-language summary

The purpose of this study is to develop a real-time controller for exoskeletons using neural information embedded in human musculature. This controller will consist of an online interface that anticipates human movement based on high-density electromyography (HD-EMG) recordings, and then translates it into functional assistance. This study will be carried out in both healthy participants and participants post-stroke. The researchers will develop an online algorithm (decoder) in currently existing exoskeletons that can extract hundreds of motor unit (MU) spiking activity out of HD-EMG recordings. The MU spiking activity is a train of action potentials coded by its timing of occurrence that gives access to a representative part of the neural code of human movement. The researchers will also develop a command encoder that can anticipate human intent (multi-joint position and force commands) from MU spiking activity to translate the neural information to movement. The researchers will integrate the decoder with the command encoder to showcase the real-time control of multiple joint lower-limb exoskeletons.

Who can participate

Age range

18 Years – 80 Years

Sex

ALL

See this in plain English?

AI-rewrites the medical criteria so a patient or caregiver can understand them. Always confirm with the trial site.

Inclusion Criteria for Healthy Participants: * Age from 18 to 80 years * No history of a brain and/or skull lesion * Normal hearing and vision, both can be corrected * Able to understand and give informed consent * No neurological disorders * Absence of pathology that could cause abnormal movements of extremities (e.g., * epilepsy, stroke, marked arthritis, chronic pain, musculoskeletal injuries) * Able to understand and speak English * Height between 3 foot 6 inches (1.1 meters) and 6 foot 9 inches (2.1 meters) Inclusion Criteria for Participants Post-stroke: * Age from 18 to 80 years * History of unilateral, supratentorial, ischemic or hemorrhage stroke greater than 6 months * Ability to walk independently on level ground, allowed to use assistive device or bracing * as needed * Medically stable * No planned surgeries, medical treatments or outpatient therapy during the study period * Normal hearing and vision, both can be corrected * Able to understand and give informed consent * Able to understand and speak English * Height between 3 foot 6 inches (1.1 meters) and 6 foot 9 inches (2.1 meters) Exclusion Criteria for Healthy Participants: * Weight over 220 lbs * Pregnancy (ruled out by pregnancy questionnaire) * Any neurological diagnoses or medications influencing brain function * History of significant head trauma (i.e., extended loss of consciousness, neurological * sequelae) * Known structural brain lesion * Significant other disease (heart disease, malignant tumor…

Questions worth asking your doctor

Bring these to your next appointment. They're a starting point for a shared conversation — not a sign you qualify or a recommendation to enrol.

1Based on my diagnosis and history, is this trial worth exploring for me — or is there a standard treatment we should try first?
2What does this trial's phase tell us about how much is already known about its safety and benefit?
3What would taking part actually involve for me — visits, tests, time, and travel?
4What are the known and possible risks or side effects I should weigh, and how would they be monitored?
5If this trial isn't the right fit, what other options or trials would you suggest I look into?

Generated to help you prepare — always confirm anything about your own eligibility and care with the study team and your doctor.

Questions for the trial coordinator

The trial coordinator is the person who runs the study day to day. These cover the practical side — logistics, costs, and what taking part would actually mean for your life. The study team confirms whether you meet the criteria; these are questions to ask, not a sign you qualify.

1What does taking part actually involve week to week — how many visits, where, and how long does each one take?
2What costs are covered by the study, and what might I have to pay for myself, including travel, parking, or time off work?
3What happens during screening, and what happens if the study team confirms I don't meet the criteria after those tests?
4Who pays for the scans, blood work, and other tests the trial requires — the study, my insurance, or me?
5How will being in the trial affect my regular care, and will my own doctor stay informed and involved?
6Can I leave the trial at any point if I change my mind, and what would happen to my care if I do?

A starting point for the conversation — always confirm anything about your own eligibility, costs, and care with the study team and your doctor.

What they're measuring

Change in stride variability

Timeframe: For Experiment B, change in stride variability at baseline and with assistive robot through participant completion, an average of 3 months.

Change in cadence

Timeframe: For Experiment B, change in cadence at baseline and with assistive robot through participant completion, an average of 3 months.

Change in step length

Timeframe: For Experiment B, change in step length at baseline and with assistive robot through participant completion, an average of 3 months.

Change in stride length

Timeframe: For Experiment B, change in stride length at baseline and with assistive robot through participant completion, an average of 3 months.

Change in stance time

Timeframe: For Experiment B, change in stance time at baseline and with assistive robot through participant completion, an average of 3 months.

Change in bilateral joint torque at the ankle, knee, and hip

Timeframe: For Experiment B, change in joint torque at baseline and with assistive robot through participant completion, an average of 3 months.

Trial details

NCT IDNCT04661891

SponsorShirley Ryan AbilityLab

Sponsor typeOTHER

Study typeINTERVENTIONAL

Primary completion2026-07-15

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