A robotic exoskeleton to treat crouch gait from cerebral palsy: Initial kinematic and neuromuscular evaluation. - Zachary F. Lerner; Diane L. Damiano; Thomas C. Bulea (EMBC, 2016)

Exergaming with a pediatric exoskeleton: Facilitating rehabilitation and research in children with cerebral palsy. - Thomas C. Bulea; Zachary F. Lerner; Andrew J. Gravunder; Diane L. Damiano (ICORR, 2017)

Relationship between assistive torque and knee biomechanics during exoskeleton walking in individuals with crouch gait. - Zachary F. Lerner; Diane L. Damiano; Thomas C. Bulea (ICORR, 2017)

Repeatability of EMG activity during exoskeleton assisted walking in children with cerebral palsy: implications for real time adaptable control. - Thomas C. Bulea; Zachary F. Lerner; Diane L. Damiano (EMBC, 2018)

Verification of a Robotic Ankle Exoskeleton Control Scheme for Gait Assistance in Individuals with Cerebral Palsy. - Gian Maria Gasparri; Michael Owen Bair; Robert Patrick Libby; Zachary Forest Lerner (IROS, 2018)

Validating Model-Based Prediction Of Biological Knee Moment During Walking With An Exoskeleton in Crouch Gait: Potential Application for Exoskeleton Control. - Ji Chen; Diane L. Damiano; Zachary F. Lerner; Thomas C. Bulea (ICORR, 2019)

Simulating Ankle Torque during Walking Using a new Bioinspired Muscle Model with Application for Controlling a Powered Exoskeleton. - Safoura Sadegh Pour Aji Bishe; Daniel J. Rivera; Katherine A. Strausser; Zachary F. Lerner; Kiisa Nishikawa (CoRR, 2020)

Closing the Loop on Exoskeleton Motor Controllers: Benefits of Regression-Based Open-Loop Control. - Greg Orekhov; Jason Luque; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2020)

Improving Ankle Muscle Recruitment via Plantar Pressure Biofeedback during Robot Resisted Gait Training in Cerebral Palsy. - Benjamin C. Conner; Zachary F. Lerner (ICORR, 2022)

How Ankle Exoskeleton Assistance Affects the Mechanics of Incline Walking and Stair Ascent in Cerebral Palsy. - Ying Fang; Zachary F. Lerner (ICORR, 2022)

A Low-Profile Hip Exoskeleton for Pathological Gait Assistance: Design and Pilot Testing. - Safoura Sadegh Pour Aji Bishe; Leah Liebelt; Ying Fang; Zachary F. Lerner (ICRA, 2022)

Bilateral vs. Paretic-Limb-Only Ankle Exoskeleton Assistance for Improving Hemiparetic Gait: A Case Series. - Ying Fang; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2022)

Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton. - Greg Orekhov; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2022)

Improving the Energy Cost of Incline Walking and Stair Ascent With Ankle Exoskeleton Assistance in Cerebral Palsy. - Ying Fang; Greg Orekhov; Zachary F. Lerner (IEEE Trans. Biomed. Eng., 2022)

Predicting Neuromuscular Engagement to Improve Gait Training With a Robotic Ankle Exoskeleton. - Karl Harshe; Jack R. Williams; Toby Dylan Hocking; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2023)

A Quasi-Passive Robotic Ankle Foot Orthosis With Speed-Adaptive Stiffness. - Samuel Hopkins; Collin Bowersock; Elliott J. Rouse; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2024)

Priming Robotic Plantarflexor Resistance With Assistance to Improve Ankle Power During Exoskeleton Gait Training. - Karl Harshe; Emmanuella Tagoe; Collin Bowersock; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2024)

Should Ankle Exoskeletons Also Provide Assistance During Swing Phase? - Karl Harshe; Ying Fang; Zachary F. Lerner (ICORR, 2025)

Ankle Power Biofeedback Augments Wearable Resistance for Improved Push-Off Power and Muscle Recruitment. - Emmanuella A. Tagoe; Karl Harshe; Collin D. Bowersock; Zachary F. Lerner (ICORR, 2025)

OpenExo: An open-source modular exoskeleton to augment human function. - Jack R. Williams; Chance F. Cuddeback; Shanpu Fang; Daniel Colley; Noah Enlow; Payton Cox; Paul Pridham; Zachary F. Lerner (Sci. Robotics, 2025)

Design and Validation of a Wearable Ankle Push-Off Device in Cerebral Palsy: Is Spring Resistance as Effective as Motorized Resistance? - Emmanuella Tagoe; Karl Harshe; Collin Bowersock; Zachary F. Lerner (IEEE Trans. Biomed. Eng., 2025)