2024
- Tagoe, E.A., Fang, Y., Williams, J.R., Stone, J.L., Lerner, Z.F., Exoskeleton gait training on real-world terrain improves spatiotemporal performance in cerebral palsy. Frontiers in Bioengineering and Biotechnology.
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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.