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. 2018 Jul 27;15:69. doi: 10.1186/s12984-018-0412-9

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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. 4 — Second phase: power training progression values along sessions 9 to 16 of the robot-based therapy. Six different levels of assistance were selected on the exoskeleton (combining hips and knees). The light-gray line represents the movement amplitude (%ROM), the blue line the changes of %PBWS and the dark-gray line is referred to gait velocity percentage for each session