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Among the growing number of different exoskeletons, passive and quasi-passive solutions hold the upper-hand compared to powered solutions in price, accessibility, complexity, weight and user acceptance. This paper evaluates a modification of an originally passive ankle exoskeleton with an active clutch, making it quasi-passive. We developed an electric quasi-passive clutch to improve the performance of the original exoskeleton design, with the aim of mitigating the problems on the clutch engagement timing and user physiological variability. In order to evaluate the exoskeleton and the clutch operation, we performed a study where 7 users wore the exoskeleton and performed trial walks. Qualitative user feedback that focused on the device comfort, users perception of exoskeletons effect and smoothness of the clutch operation was collected, along with quantitative data on clutch operation during walking on a flat surface. Results show improved and more reliable exoskeleton clutch operation which was also expressed in qualitative user feedback.

Exoskeletons are a promising tool to support individuals with a decreased level of motor performance. Due to their built-in sensors, exoskeletons offer the possibility of continuously recording and assessing user data, for example, related to motor performance. The aim of this article is to provide an overview of studies that rely on using exoskeletons to measure motor performance. Therefore, we conducted a systematic literature review, following the PRISMA Statement guidelines. A total of 49 studies using lower limb exoskeletons for the assessment of human motor performance were included. Of these, 19 studies were validity studies, and six were reliability studies. We found 33 different exoskeletons; seven can be considered stationary, and 26 were mobile exoskeletons. The majority of the studies measured parameters such as range of motion, muscle strength, gait parameters, spasticity, and proprioception. We conclude that exoskeletons can be used to measure a wide range of motor performance parameters through built-in sensors, and seem to be more objective and specific than manual test procedures. However, since these parameters are usually estimated from built-in sensor data, the quality and specificity of an exoskeleton to assess certain motor performance parameters must be examined before an exoskeleton can be used, for example, in a research or clinical setting.