Figure 6

Test ergometer data from one simulated walking stride cycle. A) Joint angle. B) Joint angular velocity. Measured device reaction torque (C), mechanical power (D), and electrical power (E) during continuous generation, generative braking, and flexion dissipation modes. The grey lines in C and D indicate typical knee joint torque and power during walking at a similar speed. Regions corresponding approximately to swing and stance phases are indicated for reference.