Table 3.

Subject experiment settings in NMC-controlled LOPES.

Subject	EMG	BWS	AS	NMC Level	Speed	Speed Ind.	Speed matched
	Leg	(%BW)	(%BW)	(%)	(m/s)	(m/s)	(m/s)
SHL	R	0	0	100	1.0	0	1.0
S1A	L	31	12	40	0.4 (0.15–0.5)	0	0.3
S1B	L	36	38	100	0.6 (0.4–1.4)	0.6	0.6
S2A	R	60	24	30	0.35	None	0.3
S2B	L	24	34	100	0.6 (0.3–0.6)	0.5	0.6
S2C	R	21	48	100	0.7 (0.4–1.0)	0.7	0.6
S2D	R	38	30	100	0.6 (0.4–1.1)	0.6	0.6

EMG leg indicates from which leg EMG measurements were recorded. BWS is body weight support provided by LOPES as a percentage of body weight. AS is amount of arm support exerted by the subject as a percentage of body weight. Speed is the walking speed exhibited in Figures 2, 3, and the range of speeds for Figures 4, 5 are shown parenthetically. Speed Ind. specifies the speed in which subjects did not need manual assistance. Speed Matched is healthy shod walking speed chosen for comparison against walking with NMC.