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Fig. 4. Exoskeleton performance. Bar graphs show the mean (A) change in net
metabolic power (powered–unpowered; W kg–1) as a result
of powered assistance from bilateral ankle exoskeletons, (B) exoskeleton
average positive (black), negative (white) and net (dark gray) mechanical
power (W kg–1) over a stride for powered walking and (C)
exoskeleton performance index (unitless) of the nine subjects. Performance
index indicates the fraction of ankle muscle–tendon positive work
performed by plantar flexor muscle shortening rather than Achilles' tendon
recoil (i.e. muscle work fraction). Numbers above bars are equivalent ankle
muscle–tendon `apparent efficiency' values (see Materials and methods
for details). For all panels, surface inclines increase from left (0%-level)
to right (15%-uphill). Error bars are ±1 s.e.m. Asterisks (in A)
indicate statistical significance for comparison of powered versus
unpowered net metabolic power (P<0.05).
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