Leg Stretching Using an Exoskeleton on Demand for People With Spasticity

"* Participant preparation, placement of wearable sensors and monitoring, and wearable device fitting.~* Lower-limb joint rotations and leg stretching protocol (40-60 minutes). The wearable exoskeleton and its control algorithm are evaluated to rotate leg joints and apply stretching similarly to the forces applied by nurses and caregivers when providing manual forces. Joint rotation and limb stretching is conducted while participants sit down (e.g., in a wheelchair, on a chair, on one side of a bed, or on a clinical mat) or lay down on a bed/mat. The protocol involves ankle plantarflexion and dorsiflexion, knee extension, hip flexion with the knee flexed, and toe flexion and extension (bilaterally) assisted by the exoskeleton, and each movement is repeated at a low-to-moderate rate of 10-30 cycles/minute.~* Treadmilll and Overground Walking (60-90 minutes including rest periods)~* Cool down (5-10 minutes)"