![]() ![]() This assistance reduced metabolic energy consumption by 23 ± 8% when participants walked on a treadmill at a standard speed of 1.5 m s −1. Assistance optimized during one hour of naturalistic walking in a public setting increased self-selected speed by 9 ± 4% and reduced the energy used to travel a given distance by 17 ± 5% compared with normal shoes. We performed real-world optimization using data collected during many short bouts of walking at varying speeds. We developed a data-driven method for optimizing exoskeleton assistance outdoors using wearable sensors and found that it was equally effective as laboratory methods, but identified optimal parameters four times faster. ![]() We designed a portable ankle exoskeleton based on insights from tests with a versatile laboratory testbed. ![]() Here we show that exoskeleton optimization can be performed rapidly and under real-world conditions. Personalized exoskeleton assistance provides users with the largest improvements in walking speed 1 and energy economy 2, 3, 4 but requires lengthy tests under unnatural laboratory conditions. ![]()
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