Table 4.

Muscle activations of left ankle during the experiment (GAS, gastrocnemius muscle; SERAJ, series elastic robot ankle joint; SOL, soleus muscle).

Subject	Left GAS		Left SOL
	No SERAJ	With SERAJ	No SERAJ	With SERAJ
A	0.55 ± 0.15	0.57 ± 0.11	0.57 ± 0.01	0.58 ± 0.09
B	0.41 ± 0.35	0.31 ± 0.21	0.48 ± 0.13	0.53 ± 0.12
C	0.44 ± 0.05	0.59 ± 0.02	0.52 ± 0.05	0.59 ± 0.04
D	0.28 ± 0.02	0.35 ± 0.21	0.44 ± 0.06	0.48 ± 0.18
E	0.50 ± 0.22	0.54 ± 0.15	0.55 ± 0.03	0.54 ± 0.05
F	0.50 ± 0.11	0.64 ± 0.04	0.59 ± 0.04	0.55 ± 0.01