Fig. 5.

Positive ankle augmentation power map of a representative subject (S5) from the control parameter tuning process. Stars indicate the conditions that the controller explored, and the number below each star indicates the unilateral positive augmentation power delivered at the ankle for each condition in watts. The arrows with numbers in circles (①, ②, ③, and ④) indicate the sequence of the exploration, along the grouped conditions indicated by the dotted lines. The stars labelled as “Failed” indicate the conditions that were excluded as the exosuit was limited from achieving a desired peak force of 400 N