Figure 1
Feedback-controlled robotics-assisted treadmill exercise. Hip and knee joint forces and angles are measured in real time to allow calculation of the mechanical work rate (Pmech, solid line) and projection onto a screen in front of the subject. Individual target work rate profiles (P*mech, dashed line) are used to guide exercise intensity during robotics-assisted walking. The passive mechanical work rate (Ppassive) is evaluated before every session and subtracted from Pmech. Legend: Praw = raw mechanical work rate, Μi = moments of force, ωi = angular velocity, Ptotal = total mechanical work rate.