Figure 4

Representative results in time domain from participant 3. Data corresponds to the first steps of a walking trial. Representative data from left leg of participant 3 during the first 100 seconds of the experiment. Knee reference angle (blue), actual knee angle (dotted gray curve), user-exoskeleton interaction torque (red curve), stimulation pulse width (PW) output from the ILC controller (ILC PW, black curve, scaled by a factor of 10), and TTI (brown curve. TTI curve is updated after completing the swing phase). Note the decrease on interaction torque during swing phase, due to increasing muscle contribution to the movement during this phase.