2024
- Bowersock, C.D., and Lerner Z.F., Feasibility of Using Autonomous Ankle Exoskeletons to Augment Community Walking in Cerebral Palsy. IEEE Open Journal of Engineering in Medicine and Biology.
Harshe, K., Tagoe, E.A., Bowersock, C.D., Lerner Z.F., Priming Robotic Plantar Flexor Resistance with Assistance to Improve Ankle Power during Gait Training. IEEE Robotics and Automation Letters.
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Harshe, K., Conner, B.C., Lerner Z.F., Predicting Steady-State Metabolic Power in Cerebral Palsy, Stroke, and the Elderly During Walking With and Without Assistive Devices. Annals of Biomedical Engineering.
- Colley, D., Bowersock, C.D., and Lerner Z.F., A Lightweight Powered Elbow Exoskeleton for Manual Handling Tasks. IEEE Transactions on Medical Robotics and Bionics.
- Bowersock, C.D., and Lerner Z.F., Comparing the effectiveness of robotic plantarflexion resistance and biofeedback between overground and treadmill walking. Journal of Biomechanics.
- Fang, Y., and Lerner Z.F., Effects of ankle exoskeleton assistance and plantar pressure biofeedback on incline walking mechanics and muscle activity in cerebral palsy. Journal of Biomechanics.
- Hopkins, S., Bowersock, C.D., Rouse, E.J., Lerner Z.F., A Quasi-Passive Robotic Ankle Foot Orthosis with Speed-Adaptive Stiffness. IEEE Robotics and Automation Letters.
2023
- Spomer, A.M., Conner, B.C., Schwartz, M.H., Lerner, Z.F., Steele, K.M., Audiovisual biofeedback amplifies plantarfexor adaptation during walking among children with cerebral palsy. Journal of NeuroEngineering and Rehabilitation
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Tagoe, E.A., Fang, Y., Williams, J.R., Lerner, Z.F., Walking on Real-world Terrain with an Ankle Exoskeleton in Cerebral Palsy. IEEE Transactions on Medical Robotics and Bionics.
- Fang, Y., and Lerner Z.F., How Adaptive Ankle Exoskeleton Assistance Affects Stability during Perturbed and Unperturbed Walking in the Elderly. Annals of Biomedical Engineering.
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Harshe, K., Williams, J.R., Hawking, T.D., Lerner Z.F., Predicting Neuromuscular Engagement to Improve Gait Training with a Robotic Ankle Exoskeleton. IEEE Robotics and Automation Letters.
2022
- Conner, B.C., Fang Y., Lerner Z.F., Under Pressure: Design and Validation of a Pressure-Sensitive Insole for Ankle Plantar Flexion Biofeedback During Neuromuscular Gait Training. Journal of NeuroEngineering and Rehabilitation
- Conner, B.C., Spomer, A.M., Steele, K.M., Lerner Z.F., Factors Influencing Neuromuscular Responses to Gait Training with a Robotic Ankle Exoskeleton in Cerebral Palsy. Assistive Technology.
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Orekhov, G., Lerner, Z.F., Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton. IEEE Robotics and Automation Letters.
- Fang, Y., Harshe, K., Franz, J.R., Lerner Z.F., Feasibility evaluation of a dual-mode ankle exoskeleton to assist and restore community ambulation in older adults. Wearable Technologies.
- Conner, B.C., Lerner, Z.F., Improving Ankle Muscle Recruitment via Plantar Pressure Biofeedback during Robot Resisted Gait Training in Cerebral Palsy. IEEE International Conference on Rehabilitation Robotics.
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Fang, Y., Lerner, Z.F., How Ankle Exoskeleton Assistance Affects the Mechanics of Incline Walking and Stair Ascent in Cerebral Palsy. IEEE International Conference on Rehabilitation Robotics.
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Conner B.C., Spomer, A.M., Bishe, S.S.P.A., Steele, K.M., Lerner Z.F., Soleus H-reflex modulation in cerebral palsy and its relationship with neural control complexity: a pilot study. Experimental Brain Research.
- Bishe, S., Liebelt, L., Fang, Y., Lerner, Z.F., A Low-Profile Hip Exoskeleton for Pathological Gait Assistance: Design and Pilot Testing. IEEE International Conference on Robotics and Automation.
- Conner B.C., Remec, N., Michaels, C., Andrisevic, E., Lerner Z.F., Is robotic gait training effective for individuals with cerebral palsy? A systematic review and meta-analysis of randomized controlled trials. Clinical Rehabilitation
2021
- Fang, Y., Lerner, Z.F., Bilateral vs. Paretic-Limb-Only Ankle Exoskeleton Assistance for Improving Hemiparetic Gait: A Case Series. IEEE Robotics and Automation Letters.
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Fang, Y., Orekhov, G., Lerner, Z.F., Improving the Energy Cost of Incline Walking and Stair Ascent with Ankle Exoskeleton Assistance in Cerebral Palsy. IEEE Transactions on Biomedical Engineering.
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Conner B.C., Orekhov, G., Lerner Z.F., Ankle Exoskeleton Assistance Increases Six-Minute Walk Test Performance in Cerebral Palsy. IEEE Open Journal of Engineering in Medicine and Biology.
- Conner B.C., Remec, N., Michaels, C., Andrisevic, E., Lerner Z.F., Relationship between ankle function and walking ability for children and young adults with cerebral palsy: A systematic review of deficits and targeted interventions. Gait and Posture.
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Orekhov, G., Fang, Y., Cuddeback, C.F., Lerner, Z.F., Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton. Journal of NeuroEngineering and Rehabilitation.
- Conner, B.C., Schwartz, M.H., Lerner, Z.F., Pilot evaluation of changes in motor control after wearable robotic resistance training in children with cerebral palsy. Journal of Biomechanics.
- Bishe, S., Nguyen, T., Fang, Y., Lerner, Z.F., Adaptive Ankle Exoskeleton Control: Validation Across Diverse Walking Conditions. IEEE Transactions on Medical Robotics and Bionics.
- Harvey, T.A., Conner, B.C., Lerner, Z.F., Does ankle exoskeleton assistance impair stability during walking in individuals with cerebral palsy? Annals of Biomedical Engineering.
- Fang, Y., and Lerner, Z.F., Feasibility of Augmenting Ankle Exoskeleton Walking Performance with Step Length Biofeedback in Individuals with Cerebral Palsy. IEEE Transactions on Neural Systems and Rehab Engineering.
2020
- Fang, Y., Orekhov, G, Lerner, Z.F., Adaptive Ankle Exoskeleton Gait Training Demonstrates Acute Neuromuscular and Spatiotemporal Benefits for Individuals with Cerebral Palsy: A Pilot Study. Gait and Posture.
- Conner B.C., Remec N.M., Orum E.K., Frank, E.M., Lerner Z.F., Wearable Adaptive Resistance Training Improves Ankle Strength, Walking Efficiency and Mobility in Cerebral Palsy: A Pilot Clinical Trial. IEEE Open Journal of Engineering in Medicine and Biology.
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Orekhov, G., Luque, J., Lerner, Z.F., Closing the Loop on Exoskeleton Motor Controllers: Benefits of Regression-Based Open-Loop Control. IEEE Robotics and Automation Letters.
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Orekhov, G., Fang, Y., Luque, J., Lerner, Z.F., Ankle Exoskeleton Assistance Can Improve Over-Ground Walking Economy in Individuals with Cerebral Palsy. IEEE Transactions on Neural Systems and Rehab Engineering.
- Conner, B.C., Luque, J., Lerner, Z.F., Adaptive Ankle Resistance from a Wearable Robotic Device to Improve Muscle Recruitment in Cerebral Palsy. Annals of Biomedical Engineering.
2019
- Namwoong, K., Browning, R.C., Lerner, Z.F., The effects of pediatric obesity on patellofemoral joint contact force during walking. Gait & Posture.
- Lerner, Z.F., Conner, B.C., Remec, N.M., Adaptation of Gait Energetics to Ankle Exoskeleton Assistance Within and Across Visits: A Clinical Case Series. IEEE 2019 Wearable Robotics Association Conference (WearRAcon).
- Gasparri, G.M., Luque, J., Lerner, Z.F., Proportional Joint-Moment Control for Instantaneously-Adaptive Ankle Exoskeleton Assistance. IEEE Transactions on Neural Systems and Rehab Engineering.
- Lerner, Z.F., Harvey, T.A., Lawson, J.L., A Battery-Powered Ankle Exoskeleton Improves Gait Mechanics in a Feasibility Study of Individuals with Cerebral Palsy. Annals of Biomedical Engineering.
- Lerner, Z.F., Damiano, D.L., Bulea, T.C., Computational Modeling of Neuromuscular Response to Swing-Phase Robotic Knee Extension Assistance in Cerebral Palsy. Journal of Biomechanics.
2018
- Lerner, Z.F., Gasparri, G.M., Bair, M.O., Lawson, J.L., Luque, J., Harvey, T.A., Lerner, A.T., An untethered ankle exoskeleton improves walking economy in a pilot study of individuals with cerebral palsy. IEEE Transactions on Neural Systems and Rehab Engineering.
- Gasparri, G.M., Bair, M.O., Libby, R., Lerner, Z.F., Verification of a Robotic Ankle Exoskeleton Control Scheme for Gait Assistance in Individuals with Cerebral Palsy. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
- Bulea, T.C., Lerner, Z.F., Damiano, D.L., Repeatability of EMG Activity During Exoskeleton Assisted Walking in Children with Cerebral Palsy: Implications for Real Time Adaptable Control. IEEE Engineering in Medicine and Biology Conference.
2017
- Lerner, Z.F., Damiano, D.L., Bulea, T.C., The Effects of Exoskeleton Assisted Knee Extension on Lower-Extremity Gait Kinematics, Kinetics, and Muscle Activity in Children with Cerebral Palsy. Nature Scientific Reports.
- Lerner, Z.F., Damiano, D.L., Bulea, T.C., A lower extremity exoskeleton improves knee extension in children with crouch gait from cerebral palsy. Science Translational Medicine.
- Lerner, Z.F., Damiano, D.L., Bulea, T.C., Relationship between Assistive Torque and Knee Biomechanics During Exoskeleton Walking in Individuals with Crouch Gait. IEEE International Conference on Rehabilitation Robotics.
- Bulea, T.C., Lerner, Z.F., Gravunder, A., Damiano, D.L., Exergaming with a Pediatric Exoskeleton: Facilitating Rehabilitation and Research in Children with Cerebral Palsy. IEEE International Conference on Rehabilitation Robotics.
2016
- Lerner, Z.F., Damiano, D.L., Bulea, T.C., A Robotic Exoskeleton to Treat Crouch Gait from Cerebral Palsy: Initial Kinematic and Neuromuscular Evaluation. IEEE Engineering in Medicine and Biology Conference.
- Lerner, Z.F., Damiano, D.L., Park, H.S., Gravunder, A.J., Bulea, T.C., A Robotic Exoskeleton for Treatment of Crouch Gait in Children with Cerebral Palsy: Design and Initial Application. IEEE Transactions on Neural Systems and Rehab Engineering.
- Lerner, Z.F., Damiano, D.L., Bulea, T.C., Estimating the Mechanical Behavior of the Knee Joint during Crouch Gait: Implications for Real-Time Motor Control of Robotic Knee Orthoses. IEEE Transactions on Neural Systems and Rehab Engineering.
- Lerner, Z.F., and Browning, R.C., Compressive and Shear Hip Joint Contact Forces are Affected by Pediatric Obesity during Walking. Journal of Biomechanics.
2015
- Gadomski, B.C., Lerner, Z.F., Browning, R.C., Easley, J.T., Palmer, R.H., Puttlitz, C.M., Computational Characterization of Fracture Healing under Reduced Gravity Loading Conditions. Journal of Orthopaedic Reseach.
- Lerner, Z.F., Board, W.J., and Browning, R.C., Pediatric Obesity and Walking Duration Increase Medial Tibiofemoral Contact Forces. Journal of Orthopaedic Research.
- Lerner, Z.F., DeMers, M.S., Delp, S.L., and Browning, R.C., How Tibiofemoral Alignment and Contact Locations Affect Predictions of Medial and Lateal Tibiofemoral Contact Forces. Journal of Biomechanics.
- Lerner, Z.F., Gadomski, B.C., Ipson, A.K, Puttlitz, C.M., and Browning, R.C., Modulating Tibiofemoral Contact Force in the Sheep Hind Limb via Treadmill Walking: Predictions from an OpenSim Musculoskeletal Model. Journal of Orthopaedic Research.
2014
- Lerner, Z.F., Shultz, S.P., Board, W.J., Kung, S., and Browning, R.C., Does Adiposity Affect Muscle Function during Walking in Children? Journal of Biomechanics.
- Lerner, Z.F., Board, W.J., and Browning, R.C., Effects of Obesity on Lower Extremity Muscle Function During Walking at Two Speeds. Gait & Posture.
2013
- Haight, D.J., Lerner, Z.F., Board, W.J., and Browning, R.C., A Comparison of Slow, Uphill and Fast, Level Walking on Lower Extremity Biomechanics and Tibiofemoral Joint Loading in Obese and Nonobese Adults. Journal of Orthopaedic Research.
- Lerner, Z.F., Board, W.J., and Browning, R.C., Effects of an Obesity-Specific Marker Set on Estimated Muscle/Joint Forces in Walking. Medicine and Science in Sports and Exercise.
- Lerner, Z.F., Haight, D.J., DeMers, M.S., Board, W.J., and Browning, R.C., The Effects of Walking Speed on Tibiofemoral Loading Estimated Via Musculoskeletal Modeling. Journal of Applied Biomechanics.