Figure 6.
Kinetics. (a) For every spring stiffness, plots of the mean exoskeleton moments over the entire gait cycle. The exoskeleton provided knee extensor moments during early stance up to midstance while providing little to no resistance during leg swing. The dotted vertical line represents the transition from stance to swing phase. (b) Bar plots show the mean peak stance knee moments of all spring conditions. Error bars denote standard deviations. (*) = significantly different from all other groups. (1) = significantly different from 3.4 kN m−1 spring. The p-values of all statistical tests are specified in electronic supplementary material, table S2.