Figure 3.

Changes in EMG activity due to exoskeleton assistance. Changes in EMG activity were non-linear and unique to each muscle group and participant. Generally, wearing the exoskeleton in a passive state “none” condition did not alter EMG activity of lower-limb muscles, but did increase activity of the lower-back (erector spinae) muscles. Mean and peak EMG activity for lower-limb muscles were significantly less with active exoskeleton assistance relative to the baseline and relative to the passive exoskeleton. In contrast, mean and peak EMG activity for lower-back muscles were significantly greater with active exoskeleton assistance relative to the baseline and relative to the passive exoskeleton. Trends with increasing exoskeleton assistance were unique to each participant and muscle group. Additional muscle groups are shown in Supplementary Figure 1. Data show EMG activity averaged across each gait cycle for the right and left legs and normalized to the baseline condition.