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. 2017 Jun 26;14:62. doi: 10.1186/s12984-017-0267-5

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© The Author(s). 2017

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 4 — Ankle actuation. a Exosuit ankle moment. b Exosuit ankle power. Colored lines represent average time series in the four active conditions. Lower panel shows duration and rate of negative and positive work assistance per leg in conditions with corresponding colors. Grey vertical lines delimit double and single stance phases. Multi-colored bars indicate significant result of mixed-model ANOVA with the rate of negative work assistance as fixed-effect (p ≤ 0.05). Related metric plots can be found in Additional file 6