Fig. 2. Effect of exoskeleton assistance mode on crouch.

Reduction in crouch, measured as increased knee extension angle compared to baseline walking during early (θ initial contact) and midstance (θ midstance) for the three assistance modes: stance and swing, stance only, and swing only. The darker and lighter bars depict group mean (n = 7) values of the more- and less-affected limbs, respectively. Error bars denote ¹/₂ SD; the large error bars indicate the large interparticipant variability (fig. S1). Significant differences between conditions are indicated (post hoc paired t tests with Bonferroni correction, P < 0.05).