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Fig. 3. Ankle exoskeleton mechanical power. (A) Nine subject mean (thick curves) +
1 s.d. (thin curves) of exoskeleton mechanical power delivered over the stride
from heel-strike (0%) to heel-strike (100%; left and right exoskeletons are
averaged for each subject). Curves are three session average for unpowered
walking (black) and powered walking at the beginning of practice session 1
(light gray) and end of practice session 3 (dark gray). Mechanical power is
computed as the product of exoskeleton torque and ankle joint angular velocity
and is normalized by subject mass. Positive power indicates energy transferred
to the user and negative power indicates energy absorbed from the user. (B)
Bars show the nine subject mean exoskeleton average positive and negative
mechanical power over a stride for powered walking. Error bars are ±1
s.e.m. Practice sessions (1–3) are shown left to right with beginning
period (minutes 3–5) in light gray and end period (minutes 27–29)
in dark gray. All mechanical power values are normalized by subject mass.
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