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. Author manuscript; available in PMC: 2017 Jul 12.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Jul 30;63(5):894–903. doi: 10.1109/TBME.2015.2463077

Fig. 6.

Fig. 6

Joint torques during the ground contact phase for an optimized jump with the multi-joint active device. Shown are the total joint torque (black) and the individual physiological (red) and device (blue) torques. The total joint torque from the simulated nominal case (gray) is shown for reference. Extension torques about the (a) hip, (b) knee, and (c) ankle are shown. For comparison to human joint torque capacity, the peak isometric torque values for hip, knee, and ankle extension are 584 Nm, 529 Nm, and 400 Nm, respectively.