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. 2018 Aug 9;15:74. doi: 10.1186/s12984-018-0381-z

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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. 3 — Actuation conditions. a-d Exoskeleton moment. e-h Ankle angular velocity. i-l Exoskeleton power. Left two columns show assisted leg. Right two columns show unassisted leg. Colored lines represent the Unilateral, Bilateral and Powered-Off conditions marked by rectangles in figures on top of the chart columns. Shaded area represents the standard error. Vertical lines show beginning and ending of single and double stance phases. Horizontal colored bars indicate the actuation period in conditions with corresponding colors