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. 2018 Jul 13;15:66. doi: 10.1186/s12984-018-0410-y

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© The Author(s). 2018

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. 2 — Representative data for the multi-articular controller: a Bowden cable position profile (top) and a resultant assistive force profile (bottom). The multi-articular assistance starts from the heel strike detected by the foot IMU, and delivers the majority of assistance during push off. The active cable retraction phase (highlighted in green) was parameterized into T1_MA and D_MA (T2_MA - T1_MA), and these parameters were customized by the augmentation-power-based control parameter tuning method