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. Author manuscript; available in PMC: 2021 Mar 26.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2016 Jul 27;25(6):650–659. doi: 10.1109/TNSRE.2016.2595501

Fig. 3.

Fig. 3.

Diagram of the assistance (blue) provided by the exoskeleton relative to different phases of the gait cycle. The motor controller operated in a free (frictionless) state during the early-swing phase to allow for natural knee flexion required for toe-clearance during swing.