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Fig. 5 Exoskeleton performance. (A) Bars showing the nine subject mean change in
net metabolic power (powered – unpowered) due to powered assistance from
bilateral exoskeletons. Error bars are ±1 s.e.m. All metabolic power
values are normalized by subject mass. Right axis indicates the change in net
metabolic power as a percentage difference from unpowered walking during each
session. (B) Bars indicating nine subject mean ± 1 s.e.m. exoskeleton
performance index (unitless). Performance index indicates the fraction of
average exoskeleton positive mechanical power that results in a reduction in
net metabolic power, assuming that artificial muscle work directly replaces
biological muscle work. A performance index of 1.0 would indicate that all of
the exoskeleton pneumatic muscle work replaced underlying biological muscle
performing positive mechanical work with 
+muscle.
For both panels, 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.
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