Fig. 6.

The average performance metrics for each treadmill speed and controller across participants. A The sum of the relative oxygen uptake across all the strides for each speed in each controller block graphed for each participant. The bars show the average of the sum of the oxygen uptake across all participants. Similarly, the average total absolute value of the human–exoskeleton interaction and total normalized muscle effort are graphed in B and C, respectively. Asterisks indicate statistical difference between the median of the compared populations