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Figure 1


Fig. 1. Experimental set-up. Subjects walked on a motorized treadmill at 1.25 m s–1 for 7 min with exoskeletons unpowered, then rested for 3 min, then walked for 7 min with exoskeletons powered at surface inclines of 0%, 5%, 10% and 15% grade presented in randomized order. Boxes indicate periods when data were collected (minutes 4–6) in both unpowered and powered conditions. During powered walking, bilateral ankle–foot orthoses (i.e. exoskeletons) were operated under proportional myoelectric control. Users' soleus muscle activity generated a real-time control signal commanding timing and amplitude of artificial pneumatic muscle forces. We used reflective markers and motion capture to collect joint kinematics, open-circuit respirometery to measure O2 consumption and CO2 production, surface electromyography to record ankle muscle activity and compression load transducers to record artificial muscle forces.





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