Figure 3.

Ankle, knee and hip joint angles. Three subject mean (thick lines) + 1 SD (thin lines) stride cycle average (0%-left heel strike to 100%-left heel strike) joint angles (deg) for the ankle, knee and hip. Data across rows (from left to right) are for walking at 1.25 m/s overground with the orthosis unpowered (Unpowered, gray), powered under proportional myoelectric control (PM, red) and powered under proportional myoelecric control with flexor inhibition (PMFI, blue). In each panel, traces are compared to normal walking without wearing the orthosis (Without, black). Dotted vertical lines mark the stance-swing transition at ~60% of the stride cycle. Angles are measured with reference to quiet standing posture. Positive angles indicate ankle plantarflexion, knee extension and hip extension.