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bioRxiv · 10.64898/2026.06.11.731479

Effects of Ankle Stiffness on Total Leg Kinematics, Mechanics, and Muscle Activation during Walking

Humann, R. G.·Rose, M. J.·Flanagan, W.·Harris, L.·Tomkinson, A.·Voloshina, A. S.·Clites, T. R.
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Abstract

PurposeAnkle stiffness can be altered by normal aging, bone and joint pathology, and treatments such as orthoses or surgical joint fusion. The effects of ankle stiffness on gait are not yet well understood but may be crucial for understanding how these pathologies and treatments influence body mechanics. The objective of this work was to investigate how isolated changes in stiffness applied in parallel with the ankle impact lower-limb kinematics, kinetics, joint work, and muscle activation during walking in individuals without lower-limb pathology. MethodsNine young adults without lower-limb pathology wore an adjustable-stiffness ankle exoskeleton and walked at 31 different conditions of ankle spring stiffness, neutral angle, and treadmill incline. We recorded motion capture data, ground reaction forces, and muscle activation, and analyzed the resultant data for trends as a function of ankle stiffness. ResultsExoskeleton-side ankle range of motion decreased and asymmetry increased across all joints as ankle stiffness increased, primarily due to decreased plantarflexion at toe-off. The 30 Nm/rad spring stiffness condition led to a minimum in mean exoskeleton-side muscle activation and hip joint work, but increased kinematic asymmetry. ConclusionOur results suggest that there may exist a range of stiffnesses at the lower end of typically-studied values that can reduce muscle activation and joint work during walking, though at the cost of kinematic symmetry. These findings provide a deeper understanding of how ankle stiffness influences gait mechanics, with potential applications in wearable devices, clinical rehabilitation, and assistive technology.

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Humann, R. G., Rose, M. J., Flanagan, W., Harris, L., Tomkinson, A., Voloshina, A. S., Clites, T. R.. 2026-06-15. Effects of Ankle Stiffness on Total Leg Kinematics, Mechanics, and Muscle Activation during Walking. https://doi.org/10.64898/2026.06.11.731479

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