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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. 3 — A Dorsal, lateral, and frontal view of a participant with the Indego exoskeleton with active hip and knee joints. The participant is standing on the Bertec treadmill with two speed-controlled belts equipped with individual loadcells underneath each of them for GRF monitoring. Muscle activation is measured from both right and left leg muscles using EMG sensors. Gait up IMUs are clipped to the outer side of the shoes, right below ankle joints to measure the spatiotemporal parameters of gait. Oxygen uptake of the participant is measured and recorded at each breath through a mask connected to the gas analyzer carried at the back of the participant. B Treadmill speed changes while experimenting with the HTC, AMTC, and the TBC controllers. The order of the controllers was specific to participant #9 and varied for other participants. Participants walked with each controller for 300 s divided by three 100-second walking periods during each the treadmill speed was set to 0.4, 0.6, and 0.8 m/s, respectively