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. Author manuscript; available in PMC: 2015 Mar 21.
Published in final edited form as: J Biomech. 2014 Jan 20;47(5):949–956. doi: 10.1016/j.jbiomech.2014.01.025

Figure 1.

Figure 1

Experimental set-up. Instrumented exoskeletal orthosis with four six degree of freedom load cells on the leg attachment. The load cell signals were acquired at a 1000Hz sampling rate and filtered off-line using a 4th order butterworth, low-pass, and zero phase digital filter with a 50-Hz cutoff frequency. The effect of subject-specific limb inertias were accounted for by normalizing the target torques to the subjects MVT. A counterweight system supported up to 30% of the subjects body weight in order to provide functionally relevant and comfortable load bearing levels on the contralateral limb during a relatively long experiment (Cruz & Dhaher 2008).