Fig. 7.

Comparing the average interaction portrait for each pair of controllers. The average interaction portrait (IP) depicted according to the average total muscle effort and the average total human–exoskeleton interaction for each participant computed at each of the 0.4, 0.6, and 0.8 m/s speeds for the TBC$\to$HTC, TBC$\to$AMTC, and HTC$\to$AMTC illustrated in A, B, and C, respectively. The yellow areas denote the area between 25 and 75 percentiles