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. 2024 Sep 4;21:152. doi: 10.1186/s12984-024-01447-1

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated in a credit line to the data.

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Fig. 12 — A The average Pearson correlation computed between the average vertical GRF in natural walking without the exoskeleton and the vertical GRF during walking with each of the proposed controllers at different speeds. The depicted bars show the average of each metric across participants. B and C shows the similar graph for the mediolateral and antero-posterior GRF plotted only for walking at 0.8 m/s. Astrisks indicate statistical difference between the median of the compared populations