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Metabolic reduction per joint assisted, relative to walking in the exoskeleton with no torque
| Condition | Ankle-only (%) | Hip-only (%) | Hip–ankle (%) | Knee–ankle (%) | Whole-leg (%) | Hip–knee (%) | Knee-only (%) |
|---|---|---|---|---|---|---|---|
| Reduction per joint | 30 | 26 | 21 | 18 | 17 | 16 | 13 |
| Total reduction | 30 | 26 | 42 | 37 | 50 | 33 | 13 |
