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\begin{document}

\title{Adduction Assistance from Powered Hip Exoskeleton ables Modulation of
User Step Width During Walking}



\author[1]{Abbas Alili }%
\author[2]{Aaron Fleming }%
\author[2]{Varun Nalam }%
\author[2]{Ming Liu }%
\author[2]{Jesse Dean }%
\author[2]{Helen (He) Huang }%
\affil[1]{North Carolina State University}%
\affil[2]{Affiliation not available}%


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  \date{June 10, 2024}


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\begin{abstract}
Abstract-Using wearable robotics to modulate step width in ~normal
walking for enhanced mediolateral balance has not been ~demonstrated in
the field. We designed a bilateral hip exoskeleton ~with admittance
control to power hip abduction and adduction to ~modulate step width.
Objective: As the first step to show its potential, the objective of
~this study was to investigate how human's step width reacted to ~hip
exoskeleton's admittance control parameter changes during ~walking.

Methods: Ten non-disabled individuals walked on a treadmill at ~a
self-selected speed, while wearing our bilateral robotic hip
~exoskeleton. We used two equilibrium positions to define the ~direction
of assistance. We studied the influence of multiple ~stiffness values in
the admittance control on the participants' step ~width, step length,
and electromyographic (EMG) activity of the ~gluteus medius. Results:
Step width were significantly modulated by the change ~of stiffness in
exoskeleton control, while step length did not show ~significant
changes. When the stiffness changed from zero to our ~studied stiffness
values, the participants' step width started to ~modulate immediately.
Within 4 consecutive heel strikes right ~after a stiffness change, the
step width showed a significant change. ~Interestingly, EMG activity of
the gluteus medius did not change ~significantly regardless the applied
stiffness and powered ~direction.

Conclusion: Tuning of stiffness in admittance control of a hip
~exoskeleton, acting in mediolateral direction, can be a viable way for
controlling step width in normal walking. Unvaried gluteus ~medius
activity indicates that the increase in step width were ~mainly caused
by the assistive torque applied by the exoskeleton.

Significance: Our study results pave a new way for future ~design and
control of wearable robotics in enhancing mediolateral ~walking balance
for various rehabilitation applications.%
\end{abstract}%



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