Figure 2

Exercise testing protocols. Schematic representation of constant load testing, CLT, (A) and incremental exercise testing, IET, (B) using feedback-controlled robotics-assisted treadmill exercise. The dashed line represents the target work rate (P*mech). The slope during incremental exercise testing was estimated such that the predefined work rate maximum (Pmax) was reached at 10 min during the active phase. When individual termination criteria were met the incremental phase was ended and P*mech set back to the passive level (recovery).