Effects of Hip-Assist Exoskeleton Torque on Gait Parameters

Effects of Assistive Hip Exoskeleton Torque on Spatiotemporal, Kinematic, Electromyographic, and Plantar Pressure Parameters During Walking in Healthy Adults

This study aims to evaluate the impact of assistive torque from a hip-assist exoskeleton on gait patterns in healthy adults. The investigators will analyze how different torque settings affect spatiotemporal parameters, joint kinematics, muscle activity (EMG), and foot pressure during walking.

Study Overview

• Status: Recruiting
• Conditions: Healthy Volunteers; Wearable Devices; Biomechanics; Robotic Exoskeleton; Assistive Devices
• Intervention / Treatment: Device: ANGEL SUIT H10 (Hip-assist exoskeleton)

• Study Type: Interventional
• Enrollment (Estimated): 15
• Phase: Not Applicable

Contacts and Locations

Study Locations

• South Korea
  • Seoul, South Korea, 03722
    • Recruiting
    • Severance Hospital
    • Contact: Dong Wook Rha, MD, PhD; Phone Number: 82-2-2228-3717; Email: medicus@yuhs.ac

Participation Criteria

Eligibility Criteria

• Ages Eligible for Study: Adult; Older Adult
• Accepts Healthy Volunteers: Yes

Description

Inclusion Criteria:

1. Healthy adults aged 19 years or older without gait impairment.
2. Body weight between 50kg and 100kg.
3. No history of hip surgery.
4. Capable of wearing a hip-assist exoskeleton.
5. Voluntarily signed the informed consent form.

Exclusion Criteria:

1. Skin or musculoskeletal issues that prevent wearing the exoskeleton.
2. Inability to walk independently while wearing the exoskeleton.
3. Other conditions deemed inappropriate by the investigator.

Study Plan

How is the study designed?

Design Details

• Primary Purpose: Other
• Allocation: N/A
• Interventional Model: Single Group Assignment
• Masking: None (Open Label)

Number of Arms

1

Arms and Interventions

Participant Group / Arm	Intervention / Treatment
Experimental: Healthy Adult Group; Healthy adult males and females aged 19 years or older, with a body weight ranging from 50 kg to 100 kg, who meet all inclusion criteria and have no history of hip surgery or gait impairment.	Device: ANGEL SUIT H10 (Hip-assist exoskeleton); A wearable robot that provides assistive torque (Flexion/Extension) to the hip joint during walking.

What is the study measuring?

Primary Outcome Measures

Outcome Measure	Measure Description	Time Frame
Step Length	Distance between the point of initial contact of one foot and the point of initial contact of the opposite foot. Unit: Meters (m)	Day 1
Stride Length	Distance between successive points of initial contact of the same foot. Unit: Meters (m)	Day 1
Cadence	Number of steps taken per minute. Unit: steps/min	Day 1
Gait Speed	verage walking speed during the 10-meter walk test. Unit: Meters per second (m/s)	Day 1
Single/Double Limb Support Phase	The duration of time when one or both feet are in contact with the ground. Unit: Percentage of gait cycle (% GC)	Day 1
Hip Joint Range of Motion	The maximum excursion of the hip joint in the sagittal plane during the gait cycle. Unit: Degrees	Day 1
Knee Joint Range of Motion	The maximum excursion of the knee joint in the sagittal plane during the gait cycle. Unit: Degrees	Day 1
Ankle Joint Range of Motion	The maximum excursion of the ankle joint in the sagittal plane during the gait cycle. Unit: Degrees	Day 1

Secondary Outcome Measures

Outcome Measure	Measure Description	Time Frame
Muscle Activation of Rectus Femoris	Mean Root Mean Square (RMS) value of the rectus femoris muscle during the gait cycle. Unit: Microvolts	Day 1
Muscle Activation of Vastus Medialis	Unit: Microvolts	Unit: Microvolts
Muscle Activation of Medial Hamstring	Unit: Microvolts	Day 1
Muscle Activation of Tibialis Anterior	Unit: Microvolts	Day 1
Muscle Activation of Gastrocnemius	Unit: Microvolts	Day 1
Peak Plantar Pressure	The maximum pressure recorded under the foot during the stance phase. Unit: N/cm^2	Day 1
Pressure-Time Integral (PTI)	The integral of pressure over the time of contact. Unit: Ns/cm^2	Day 1

Collaborators and Investigators

• Sponsor: Yonsei University

Study record dates

Study Major Dates

• Study Start (Estimated): March 1, 2026
• Primary Completion (Estimated): March 1, 2026
• Study Completion (Estimated): March 1, 2026

Study Registration Dates

• First Submitted: January 14, 2026
• First Submitted That Met QC Criteria: March 3, 2026
• First Posted (Actual): March 5, 2026

Study Record Updates

• Last Update Posted (Actual): March 5, 2026
• Last Update Submitted That Met QC Criteria: March 3, 2026
• Last Verified: March 1, 2026

More Information

Terms related to this study

• Other Study ID Numbers: 1-2025-0068

Plan for Individual participant data (IPD)

• Plan to Share Individual Participant Data (IPD)?: UNDECIDED

Drug and device information, study documents

• Studies a U.S. FDA-regulated drug product: No
• Studies a U.S. FDA-regulated device product: No