Figure 4From: Biofeedback for robotic gait rehabilitationCorrelation of the joint torques with the walking parameters during the gait cycle. The torques in the hip and knee joints of the DGO were recorded during the walking sessions of three subjects and correlated to the different walking instructions ("passive" = 0, "active" = 1, "exaggerated" = 2; blue) and different walking parameters: synchronization of robot and treadmill ("patient coefficient" optimal and +/- 5 units; green), body weight support (25%, 50%, 70% of body weight; red) and treadmill speed (1.8 and 2.4 km/h; cyan).Back to article page