Skip to main content
[Preprint]. 2024 Jun 25:rs.3.rs-4390770. [Version 1] doi: 10.21203/rs.3.rs-4390770/v1

Figure 2.

Figure 2

Concept of assistance as-needed illustrated by exemplar data from a single subject from a single step during the swing phase. Top and bottom trajectories (—) are created around the reference trajectory (solid —) to render a no-assist region (grey area). Only when the ankle position is either below the bottom (c) or above the top (o) edges does the subject receive active assistance.