Ankle Exoskeleton Assistance Increases Six-Minute Walk Test Performance in Cerebral Palsy

Benjamin Conner, Greg Orekhov, Zachary Lerner

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


Objective: To determine the effects of providing battery-powered ankle dorsiflexor and plantar flexor exoskeleton assistance on six-minute walk test performance and efficiency in children and young adults with cerebral palsy by comparing distance walked under exoskeleton assisted (Assisted) and no device (Shod) walking conditions, and explore the acclimation rate to maximal walking with ankle exoskeleton assistance. Results: Six-minute walk test performance significantly improved under the final Assisted condition test compared to the Shod condition (42 ± 27 m, p = 0.02), surpassing the minimum clinically important difference range for children and young adults with CP. There was no difference in walking efficiency (-0.06 ± 0.1, p = 0.3). Participants had an average acclimation rate of 19.6 m per session. Conclusions: Powered ankle assistance can significantly improve six-minute walk test performance in individuals with mild-to-moderate gait impairment from CP, supporting the use of this intervention to improve functional mobility and walking capacity in this patient population.

Original languageEnglish (US)
Pages (from-to)320-323
Number of pages4
JournalIEEE Open Journal of Engineering in Medicine and Biology
StatePublished - 2021
Externally publishedYes


  • Ankle assistance
  • cerebral palsy
  • exoskeleton
  • six-minute walk test

ASJC Scopus subject areas

  • Biomedical Engineering

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