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Figure 1


Fig. 1. Experimental set-up. (A) Subjects completed three practice sessions over a 7 day period. In each session, subjects walked on a motorized treadmill for 10 min with exoskeletons unpowered, 30 min with exoskeletons powered, and 15 min with exoskeletons unpowered. Outlined boxes indicate periods during which data were analyzed: unpowered beginning (minutes 7–9), powered beginning (minutes 3–5), powered end (minutes 27–29) and unpowered end (minutes 12–14). (B) During powered walking, bilateral ankle–foot orthoses (i.e. exoskeletons) drove ankle extension with artificial pneumatic muscles controlled using the subject's own soleus surface electromyography (EMG; i.e. under proportional myoelectric control). We collected joint kinematics using reflective markers and motion capture, O2 and CO2 flow rates using open-circuit spirometry, and artificial muscle forces using compression force transducers.





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