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During forward flexion, spine motion varies due to age and sex differences. Previous studies showed that lumbar/pelvis range of flexion (RoF) and lumbo-pelvic ratio (L/P) are age/sex dependent. How variation of these parameters affects lumbar loading in a normal population requires further assessment. We aimed to estimate lumbar loads during dynamic flexion-return cycle and the differences in peak loads (compression) and corresponding trunk inclinations due to variation in lumbar/pelvis RoF and L/P. Based on in vivo L/P (0.11-3.44), temporal phases of flexion (early, middle, and later), the lumbar (45-55°) and hip (60-79°) RoF; full flexion-return cycles of six seconds were reconstructed for three age groups (20-35, 36-50 and 50+ yrs.) in both sexes. Six inverse dynamic analyses were performed with a 50th percentile model, and differences in peak loads and corresponding trunk inclinations were calculated. Peak loads at L4-L5 were 179 N higher in younger males versus females, but 228 N and 210 N lower in middle-aged and older males, respectively, compared to females. Females exhibited higher trunk inclinations (6°-20°) than males across all age groups. Age related differences in L4-L5 peak loads and corresponding trunk inclinations were found up to 415 N and 19° in males and 152 N and 13° in females. With aging, peak loads were reduced in males but were found non-monotonic in females, whereas trunk inclinations at peak loads were reduced in both sexes from young to middle/old age groups. In conclusion, lumbar loading and corresponding trunk inclinations varied notably due to age/sex differences. Such data may help distinguishing normal or pathological condition of the lumbar spine.

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The kinetic demands of the spine can be assessed using a top-down (TD) or bottom-up (BU) approach, which start calculations from the either the hands or from the feet, respectively. Biomechanists have traditionally favored a BU approach, though existing modeling approaches encourage a TD approach. Regardless of the approach the demands should be similar, provided the external forces and linked segment parameters are equivalently measured and modeled. Demonstrating a level of agreement between the two approaches can help evaluate a model. Further, having both approaches can be advantageous when data is inaccurate or unavailable for one. The purpose of this study was to compare the internal moments and forces at multiple lumbar and thoracic intervertebral joint (IVJ) levels during lifting tasks from an established OpenSim thoracolumbar spine model that applies a TD approach and a similar model modified to adopt a BU approach. Kinematics and external forces were recorded from twelve participants during sagittal and lateral lifts of different lifting speeds and crate masses. For both approaches IVJ kinetics were estimated using a standard OpenSim modeling pipeline. The BU and TD approach IVJ joint moments generally agreed both temporally (R2 = .94 ± .17) and in magnitude (RMSE=6.2 ± 3.5 Nm) of the primary planes of movement. There were however some temporal fit exceptions for off axes moments with low magnitudes (i.e., < 10 Nm). Bland-Altman plots also indicated acceptable agreement for IVJ peak forces (BU-TD difference of 12 ± 111 and 8 ± 31 N in compression and resultant shear, respectfully). These results support the application of the BU approach and the assigned linked segment parameters of the model. The new BU model is available on the SimTK site (https://simtk.org/projects/spine_ribcage).

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How the neuromechanics of the lower limb functional muscle groups change with running speed remains to be fully elucidated, with implications for our understanding of human locomotion, conditioning, and injury prevention. This study compared the neuromechanics (ground reaction and joint kinetics, kinematics and muscle activity) of middle-distance athletes running on an instrumented treadmill at six wide-ranging speeds (2.78-8.33 m·s-1). Ground reaction forces and kinematics were analyzed using inverse dynamics to calculate flexor and extensor joint torques, and positive and negative work done by these torques. Contributions of each functional muscle group to the total positive and negative work done by the limb during stance, swing, and the whole stride were quantified. During stance, the ankle plantar flexors were the major energy generator and absorber (>60%) at all speeds, but their contribution to whole stride energy generation and absorption declined with speed. Positive work by the hip extensors rose superlinearly with speed during stance (3-fold) and especially during swing (12-fold), becoming the biggest energy generator across the whole stride at >5 m·s-1. Knee flexor and extensor negative work also rose superlinearly with speed during swing, with the knee flexors becoming the greatest energy absorber over the whole stride at >7.22 m·s-1. Across speeds, plantar flexor peak moment and positive work accounted for 97% and 96% of the variance in step length, and swing hip extension peak moment and positive work accounted for 98% and 99% of the variance in step frequency. There were pronounced speed, phase (stance/swing), and work (positive/negative) dependent contributions of the different functional muscle groups during running, with extensive implications for conditioning and injury prevention.

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Musculoskeletal simulations can be used to estimate biomechanical variables like muscle forces and joint torques from non-invasive experimental data using inverse and forward methods. Inverse kinematics followed by inverse dynamics (ID) uses body motion and external force measurements to compute joint movements and the corresponding joint loads, respectively. ID leads to residual forces and torques (residuals) that are not physically realistic, because of measurement noise and modeling assumptions. Forward dynamic simulations (FD) are found by tracking experimental data. They do not generate residuals but will move away from experimental data to achieve this. Therefore, there is a gap between reality (the experimental measurements) and simulations in both approaches, the sim2real gap. To answer (patho-) physiological research questions, simulation results have to be accurate and reliable; the sim2real gap needs to be handled. Therefore, we reviewed methods to handle the sim2real gap in such musculoskeletal simulations. The review identifies, classifies and analyses existing methods that bridge the sim2real gap, including their strengths and limitations. Using a systematic approach, we conducted an electronic search in the databases Scopus, PubMed and Web of Science. We selected and included 85 relevant papers that were sorted into eight different solution clusters based on three aspects: how the sim2real gap is handled, the mathematical method used, and the parameters/variables of the simulations which were adjusted. Each cluster has a distinctive way of handling the sim2real gap with accompanying strengths and limitations. Ultimately, the method choice largely depends on various factors: available model, input parameters/variables, investigated movement and of course the underlying research aim. Researchers should be aware that the sim2real gap remains for both ID and FD approaches. However, we conclude that multimodal approaches tracking kinematic and dynamic measurements may be one possible solution to handle the sim2real gap as methods tracking multimodal measurements (some combination of sensor position/orientation or EMG measurements), consistently lead to better tracking performances. Initial analyses show that motion analysis performance can be enhanced by using multimodal measurements as different sensor technologies can compensate each other's weaknesses.

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Background: Weightlifting exposes athletes to significant loads, potentially placing the knee joint in an abnormal mechanical environment and leading to anterior cruciate ligament (ACL) injuries. Once an ACL injury occurs, it can affect athletes' competitive ability to varying degrees and even prematurely end their career. Understanding the biomechanical mechanisms of ACL injuries in weightlifters helps in comprehensively understanding the stress patterns and degrees on ACL during human movement, and identifying potential injury-causing factors, thereby enabling the implementation of appropriate preventive measures to reduce the occurrence of injuries. This study aimed to explore the biomechanical mechanisms of ACL injuries during the jerk dip phase of clean and jerk in weightlifters, providing a theoretical basis for the prevention of ACL injuries in weightlifting sports. Methods: This study utilized the German SIMI Motion 10.2 movement analysis system and the AnyBody simulation system to analyze the kinematic and dynamic parameters of a 109 kg + class weightlifter (height: 191 cm, age: 22 years, weight: 148 kg, athletic level: elite) performing a 205 kg clean and jerk (non-injured) and a 210 kg clean and jerk (ACL injury occurred). The differences in kinematic and dynamic indicators of lower limb joints under injured and non-injured jerk dip conditions were investigated. Results: Knee joint torque during non-injured clean and jerk was consistently positive (i.e., external rotation) but turned from positive to negative (i.e., from external rotation to internal rotation) during injured clean and jerk and reached a maximum internal rotation torque of 21.34 Nm at the moment of injury. At every moment, the muscle activation and simulated muscle force of the quadriceps and gastrocnemius during the injured clean and jerk were higher than those during the non-injured clean and jerk. By contrast, the muscle activation and simulated muscle force of the semitendinosus, semimembranosus, biceps femoris, and soleus during non-injured clean and jerk were higher than those during injured clean and jerk. The knee joint internal rotation angle during injured clean and jerk first increased and then declined, reaching a peak at 46.93° at the moment of injury, whereas it gradually increased during non-injured clean and jerk. The proximal tibia on the left side during the injured clean and jerk moved forward faster by 0.76 m/s compared with that during the non-injured clean and jerk. Conclusions: The small muscle activation and simulated muscle force of the hamstring and soleus could not resist timely and effectively the large muscle activation and simulated muscle force of the quadriceps (especially the medial quad) and gastrocnemius. As such, the force applied to the ACL could exceed its ultimate load-bearing capacity. Kinematic indicators in the athlete's injured lift demonstrated certain disparities from those in their non-injured lift. Knee internal rotation and tibial anterior translation during the jerk dip phase of weightlifting might be the kinematic characteristics of ACL injuries.

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The complex dynamics of animal manoeuvrability in the wild is extremely challenging to study. The cheetah (Acinonyx jubatus) is a perfect example: despite great interest in its unmatched speed and manoeuvrability, obtaining complete whole-body motion data from these animals remains an unsolved problem. This is especially difficult in wild cheetahs, where it is essential that the methods used are remote and do not constrain the animal's motion. In this work, we use data obtained from cheetahs in the wild to present a trajectory optimisation approach for estimating the 3D kinematics and joint torques of subjects remotely. We call this approach kinetic full trajectory estimation (K-FTE). We validate the method on a dataset comprising synchronised video and force plate data. We are able to reconstruct the 3D kinematics with an average reprojection error of 17.69 pixels (62.94% PCK using the nose-to-eye(s) length segment as a threshold), while the estimates produce an average root-mean-square error of 171.3N ( ≈ 17.16% of peak force during stride) for the estimated ground reaction force when compared against the force plate data. While the joint torques cannot be directly validated against ground truth data, as no such data is available for cheetahs, the estimated torques agree with previous studies of quadrupeds in controlled settings. These results will enable deeper insight into the study of animal locomotion in a more natural environment for both biologists and roboticists.

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The biomechanical-model-based approach with a contact model offers advantages in estimating ground reaction forces (GRFs) and ground reaction moments (GRMs), as it does not rely on the need for training data and gait assumptions. However, this approach faces the challenge of long computational times due to the inclusion of optimization processes. To address this challenge, the present study developed a new optical motion capture (OMC)-based method to estimate GRFs, GRMs, and joint torques without prolonged computational times. The proposed approach performs the estimation process by distributing external forces, as determined by a multibody model, between the left and right feet based on foot deformations, thereby predicting the GRFs and GRMs without relying on optimization techniques. In this study, prediction accuracies during level walking were confirmed by comparing a general analysis using a force plate with the estimation results. The comparison revealed excellent or strong correlations between the prediction and the measurements for all GRFs, GRMs, and lower-limb-joint torques. The proposed method, which provides practical estimation with low computational cost, facilitates efficient biomechanical analysis and rapid feedback of analysis results, contributing to its increased applicability in clinical settings.

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Background and Objectives: This study examined the influence of stationary bikes and elliptical machines on knee movement and joint load during exercise. Materials and Methods: Twelve healthy male participants engaged in pedaling exercises on stationary bikes and elliptical machines at speeds of 50 and 70 revolutions per minute (rpm). Knee movement and joint load were assessed using a motion analysis system. Results: The results indicated that elliptical machines induced higher knee joint torque compared to stationary bikes. Notably, peak torque occurred at different joint angles, with stationary bikes reaching an earlier peak at 70°-110° and elliptical machines showing a later peak at 135°-180°. Increased pedaling speed correlated with higher peak knee joint torque on both machines. With the elliptical machine, a higher pedaling frequency correlated with increased peak forces on the knee and ankle joints, as well as vertically. Interestingly, both types of equipment were associated with enhanced peak knee joint torques during high-speed pedaling. Conversely, constant pedaling on elliptical machines limited the ankle angle and could induce inward rotation. Conclusions: This study focused on knee joint torque variations during pedaling on indoor stationary bicycles and elliptical machines. Elliptical machines showed higher peak values of forces and torque, particularly during the propulsive and recovery phases, indicating potential challenges to the knee joint. Notably, peak pedal angles occurred earlier on indoor stationary bicycles, emphasizing the impact of equipment choice on joint kinetics.

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BACKGROUND: Intervertebral cages used in clinical applications were often general products with standard specifications, which were challenging to match with the cervical vertebra and prone to cause stress shielding and subsidence. OBJECTIVE: To design and fabricate customized tantalum (Ta) intervertebral fusion cages that meets the biomechanical requirements of the cervical segment. METHODS: The lattice intervertebral cages were customized designed and fabricated by the selective laser melting. The joint and muscle forces of the cervical segment under different movements were analyzed using reverse dynamics method. The stress characteristics of cage, plate, screws and vertebral endplate were analyzed by finite element analysis. The fluid flow behaviors and permeability of three lattice structures were simulated by computational fluid dynamics. Compression tests were executed to investigate the biomechanical properties of the cages. RESULTS: Compared with the solid cages, the lattice-filled structures significantly reduced the stress of cages and anterior fixation system. In comparison to the octahedroid and quaddiametral lattice-filled cages, the bitriangle lattice-filled cage had a lower stress shielding rate, higher permeability, and superior subsidence resistance ability. CONCLUSION: The inverse dynamics simulation combined with finite element analysis is an effective method to investigate the biomechanical properties of the cervical vertebra during movements.

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Calculated intersegmental moments are commonly used in analyzing throwing movements. The inverse dynamics (ID) results can vary due to the chosen set of body segment inertia parameters (BSIP). A multitude of methods to determine BSIP sets are available. The purpose of this study was to clarify the influence of different estimation methods on the BSIPs and the respective impact on the ID results in javelin throwing. Movement kinematics were recorded for ten male javelin throwers. Six different methods were used to estimate BSIP sets for the upper extremities of each thrower. Subsequently, ID results were obtained for each thrower and BSIP set. Results show variations between 8% and 120% between the BSIP sets, and maximum intersegmental moments varied between 6% and 21%, respectively. Joint-specific variations of intersegmental moments were observed as well as movement-specific variations within a joint related to the different BSIP sets. Furthermore, the influence of BSIP sets appears to be subject-specific as well, with observed variations between 9% and 18% - some athletes are better represented by the chosen methods than others. Hence, our study results suggest that the method to determine BSIP sets needs to be carefully chosen for calculating joint kinetics in throwing movements.

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BACKGROUND: Overloading of the elbow joint prosthesis following total elbow arthroplasty can lead to implant failure. Joint moments during daily activities are not well contextualized for a prosthesis's failure limits, and the effect of the current postoperative instruction on elbow joint loading is unclear. This study investigates the difference in elbow joint moments between simulated daily tasks and between flexion-extension, pronation-supination, and varus-valgus movement directions. Additionally, the effect of the current postoperative instruction on elbow joint load is examined. METHODS: Nine healthy participants (age 45.8 ± 17 years, 3 males) performed 8 tasks; driving a car, opening a door, rising from a chair, lifting, sliding, combing hair, drinking, emptying cup, without and with the instruction "not lifting more than 1 kg." Upper limb kinematics and hand contact forces were measured. Elbow joint angles and net moments were analyzed using inverse dynamic analysis, where the net moments are estimated from movement data and external forces. RESULTS: Peak elbow joint moments differed significantly between tasks (P < .01) and movement directions (P < .01). The most and least demanding tasks were, rising from a chair (13.4 Nm extension, 5.0 Nm supination, and 15.2 Nm valgus) and sliding (4.3 Nm flexion, 1.7 Nm supination, and 2.6 Nm varus). Net moments were significantly reduced after instruction only in the chair task (P < .01). CONCLUSION: This study analyzed elbow joint moments in different directions during daily tasks. The outcomes question whether postoperative instruction can lead to decreasing elbow loads. Future research might focus on reducing elbow loads in the flexion-extension and varus-valgus directions.

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Introduction: Research interest in exoskeleton assistance strategies that incorporate the user's torque capacity is growing rapidly. However, the predicted torque capacity from users often includes uncertainty from various sources, which can have a significant impact on the safety of the exoskeleton-user interface. Methods: To address this challenge, this paper proposes an adaptive control framework for a knee exoskeleton that uses muscle electromyography (EMG) signals and joint kinematics. The framework predicted the user's knee flexion/extension torque with confidence bounds to quantify the uncertainty based on a neuromusculoskeletal (NMS) solver-informed Bayesian Neural Network (NMS-BNN). The predicted torque, with a specified confidence level, controlled the assistive torque provided by the exoskeleton through a TCP/IP stream. The performance of the NMS-BNN model was also compared to that of the Gaussian process (NMS-GP) model. Results: Our findings showed that both the NMS-BNN and NMS-GP models accurately predicted knee joint torque with low error, surpassing traditional NMS models. High uncertainties were observed at the beginning of each movement, and at terminal stance and terminal swing in self-selected speed walking in both NMS-BNN and NMS-GP models. The knee exoskeleton provided the desired assistive torque with a low error, although lower torque was observed during terminal stance of fast walking compared to self-selected walking speed. Discussion: The framework developed in this study was able to predict knee flexion/extension torque with quantifiable uncertainty and to provide adaptive assistive torque to the user. This holds significant potential for the development of exoskeletons that provide assistance as needed, with a focus on the safety of the exoskeleton-user interface.

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The swimming pool experience is a fertile ground to challenge current knowledge and catalyse research into factors governing swimming performance that may inform individualised swimming training. This paper discusses the perspective and contributions of a swimming scientist, analyst, and coach on the main current trends of scientific and technological developments, allowing a deeper knowledge about determining factors of swimming performance, its evaluation difficulties, and utility for coaching daily tasks. After equating the complexity of an integrative approach to 'swimming performance', five main topics were selected: (i) the swimming economy and energy profile characteristics of each swimmer and swimming technique; (ii) the associated intra-cycle velocity variation profile; (iii) the propulsive force generation capacity; (iv) the drag force imposed on the swimmer; and (v) the internal load characterisation, opening perspectives for understanding the muscle activity pattern. It was concluded that, all together, scientific developments in these domains have allowed for an almost complete picture of the complex network of factors that explain swimming performance (velocity to cover a given distance, which can be further decomposed into a specific combination of stroke length and frequency), favouring the objectivity of diagnosing strengths and weaknesses of an individual profile.

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This paper investigates a class of nonholonomic chained systems with integral input-to-state stable (iISS) inverse dynamics subject to unknown virtual control directions and parameter uncertainty included in drift terms. First, the system is divided into two interconnected subsystems according to the system's structure. Second, one controller is designed using a switch strategy for state finite escape. Then, another controller and adaptive law are designed by combining a reduced-order state observer and backstepping method after input-state scaling. Finally, simulation results validate the feasibility of the proposed control algorithm.

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Ankle joint moment is an important indicator for evaluating the stability of the human body during the sit-to-stand (STS) movement, so a method to analyze ankle joint moment is needed. In this study, a wearable sensor system that could derive surface-electromyography (sEMG) signals and kinematic signals on the lower limbs was developed for non-invasive estimation of ankle muscle dynamics during the STS movement. Based on the established ankle joint musculoskeletal information and sEMG signals, ankle joint moment during the STS movement was calculated. In addition, based on a four-segment STS dynamic model and kinematic signals, ankle joint moment during the STS movement was calculated using the inverse dynamics method. Ten healthy young people participated in the experiment, who wore a self-developed wearable sensor system and performed STS movements as an experimental task. The results showed that there was a high correlation (all R ≥ 0.88) between the results of the two methods for estimating ankle joint moment. The research in this paper can provide theoretical support for the development of an intelligent bionic joint actuator and clinical rehabilitation evaluation.

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Purpose: Inverse-dynamics (ID) analysis is an approach widely used for studying spine biomechanics and the estimation of muscle forces. Despite the increasing structural complexity of spine models, ID analysis results substantially rely on accurate kinematic data that most of the current technologies are not capable to provide. For this reason, the model complexity is drastically reduced by assuming three degrees of freedom spherical joints and generic kinematic coupling constraints. Moreover, the majority of current ID spine models neglect the contribution of passive structures. The aim of this ID analysis study was to determine the impact of modelled passive structures (i.e., ligaments and intervertebral discs) on remaining joint forces and torques that muscles must balance in the functional spinal unit. Methods: For this purpose, an existing generic spine model developed for the use in the demoa software environment was transferred into the musculoskeletal modelling platform OpenSim. The thoracolumbar spine model previously used in forward-dynamics (FD) simulations provided a full kinematic description of a flexion-extension movement. By using the obtained in silico kinematics, ID analysis was performed. The individual contribution of passive elements to the generalised net joint forces and torques was evaluated in a step-wise approach increasing the model complexity by adding individual biological structures of the spine. Results: The implementation of intervertebral discs and ligaments has significantly reduced compressive loading and anterior torque that is attributed to the acting net muscle forces by -200% and -75%, respectively. The ID model kinematics and kinetics were cross-validated against the FD simulation results. Conclusion: This study clearly shows the importance of incorporating passive spinal structures on the accurate computation of remaining joint loads. Furthermore, for the first time, a generic spine model was used and cross-validated in two different musculoskeletal modelling platforms, i.e., demoa and OpenSim, respectively. In future, a comparison of neuromuscular control strategies for spinal movement can be investigated using both approaches.

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We aimed to illustrate kicking leg dynamics during submaximal effort soccer side-foot kicks. Side-foot kicks with three effort levels (50, 75 and 100% effort levels based on maximal effort) of eight male university soccer players were captured (500 Hz) while initial ball velocities were monitored simultaneously. Systematic regulation in joint kinetics (angular impulses) was clearly demonstrated for hip flexion and knee extension moments thereby supporting the interpretation that the final foot velocity is controlled in a context of a planar, sequential segmental system. Out of the thigh-shank plane motion (hip external rotation moment) was also found to be systematically adjusted. Kinematic contributions of knee extension angular velocity to the final foot velocity increased significantly in the maximal effort while that of hip external rotation reduced significantly, coinciding with a more straightforward approach-run. The adjustable range of the foot-ball interaction was found to be rather smaller in side-foot kicks. However, significantly smaller ball/foot velocity ratios in the two submaximal conditions suggested ankle joint fixation was manipulated towards ball impact. Players and coaches ought to recognise that the intensities of side-foot kicks were regulated by the motions within and without the thigh-shank plane alongside several kinematic changes.

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Inverse dynamics analysis of prosthetic legs with polycentric knees is complex due to increased number of links. The present work proposes a simple and general method called equivalent system (ES) analysis. The ES analysis provides forces and moment at hip joint as well as at the functional knee centre (FKC), the instant centre of the polycentric knee. The input to the ES analysis is the motion data. For validation of the proposed method, synthetic motion data for the swing phase of walking with prosthetic legs having different knees are generated by simulations using ADAMS. The hip kinetics evaluated by the proposed method is compared with that from ADAMS. The root mean square errors of the ES analysis are lower than 17 (10-6) N for hip reaction forces and 2.6 (10-6) Nm for the hip moments, thereby validating the proposed method. In order to demonstrate the application of the proposed methodology, the motion data of two transfemoral amputees using single-axis and four-bar knee prostheses are obtained during gait trials. The hip kinetics as well as kinetics at FKC are computed using ES analysis. Hip power during the swing phase is also evaluated and compared. The results are presented in this paper and discussed. The ES analysis is shown to be a versatile tool to provide insights into the human-mechanism interaction.

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Soft tissue artefact (STA) remains a major source of error in human movement analysis. The multibody kinematics optimisation (MKO) approach is widely stated as a solution to reduce the effects of STA. This study aimed at assessing the influence of the MKO STA-compensation on the errors of estimation of the knee intersegment moments. Experimental data were issued from the CAMS-Knee dataset where six participants with instrumented total knee arthroplasty performed five activities of daily living: gait, downhill walking, stair descent, squat, and sit-to-stand. Kinematics was measured both on the basis of skin markers and a mobile mono-plane fluoroscope, used to obtain the STA-free bone movement. For four different lower limb models and one corresponding to a single-body kinematics optimization (SKO), knee intersegmental moments (estimated using model-derived kinematics and ground reaction force) were compared with an estimate based on the fluoroscope. Considering all participants and activities, mean root mean square differences were the largest along the adduction/abduction axis: of 3.22Nm with a SKO approach, 3.49Nm with the three-DoF knee model, and 7.66Nm, 8.52Nm, and 8.54Nm with the one-DoF knee models. Results showed that adding joint kinematics constraints can increase the estimation errors of the intersegmental moment. These errors came directly from the errors in the estimation of the position of the knee joint centre induced by the constraints. When using a MKO approach, we recommend to analyse carefully joint centre position estimates that do not remain close to the one obtained with a SKO approach.

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Passive elastic ankle exoskeletons have been used to augment locomotor performance during walking, running and hopping. In this study, we aimed to determine how these passive devices influence lower limb joint and whole-body mechanical energetics to maintain stable upright hopping during rapid, unexpected perturbations. We recorded lower limb kinematics and kinetics while participants hopped with exoskeleton assistance (0, 76 and 91 Nm rad-1) on elevated platforms (15 and 20 cm) which were rapidly removed at an unknown time. Given that springs cannot generate nor dissipate energy, we hypothesized that passive ankle exoskeletons would reduce stability during an unexpected perturbation. Our results demonstrate that passive exoskeletons lead to a brief period of instability during unexpected perturbations - characterized by increased hop height. However, users rapidly stabilize via a distal-to-proximal redistribution of joint work such that the knee performs an increased energy dissipation role and stability is regained within one hop cycle. Together, these results demonstrate that despite the inability of elastic exoskeletons to directly dissipate mechanical energy, humans can still effectively dissipate the additional energy of a perturbation, regain stability and recover from a rapid unexpected vertical perturbation to maintain upright hopping.