Figure 3
Example traces of joint torques during walking in the robot with different instructions. Joint moment in the hip and knee joint of the DGO were recorded while a subject without neurological disorders walked according to three different instructions The other parameters, treadmill speed, body weight support, synchronization between DGO and treadmill were held constant. The instructions were: Passive (black): Do not contribute to the movement. Active (blue): Walk with the same pattern as the DGO. Exaggerated (red): Exaggerate the movement pattern to increase the biofeedback values displayed to them as line graphs (red). The weight functions used for calculation of the biofeedback values are illustrated as shaded areas.