FIGURE 1.

Experimental setup. (A) General scheme of participant groups and corresponding inclusion criteria. (B) Wearable powered exoskeleton (left) and an example of walking in the exoskeleton in the SCI participant (P12, AIS B, 11 years post-injury, see Table 1) without the assistance of the physiotherapist at the end of 2-week training (written informed consent was obtained from the individual for the publication of this image). The exoskeleton is attached to the wearer at five main locations: footplate, shank, thigh, pelvis, and torso. In each leg, hip flexion/extension and knee flexion/extension) are powered by actuators, providing appropriate kinematics of joint angle motion, 8 different walking modes and 3 speeds (corresponding to the cycle duration of T = 3, 4, or 5 s), and an automatic arrest of stepping if excessive torques are detected. (C) Schematic illustration of electrode placements.