Fig. 1.

Guidance Force and Path Control mode. Left: the Guidance Force mode. Right: Path Control mode. The orange dots indicate the required position in the sagittal plane at a specific time point in the gait cycle (spatiotemporal placement). The yellow arrows represent the forces that push the patient to the reference trajectory (Guidance Force) or the tunnel (Path Control). The additional dots on the right side indicate several possible positions, symbolizing the kinematic variability. Images courtesy of Hocoma AG