Fig. 1.

Experimental setup and protocol overview. A Unilateral soft ankle exosuit. B Experimental conditions for each subject and force application schedule for each condition (top). Applied peak torque for each condition across subjects normalized by peak biological ankle torque from an initial biomechanics collection without any device (bottom left). Applied force profile for each experimental condition across the gait cycle (0% is heel strike) for a sample subject (bottom right)