Fig. 5.

Hip actuation. a Estimated exosuit hip moment. b Estimated exosuit hip power. Colored lines represent average time series from left and right leg in conditions with different rates of negative work assistance. 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 7