Figure 2

Ankle, knee and hip total net joint moments. Mean (thick lines) + 1 standard deviation (thin lines) stride cycle average (0%-left heel strike to 100%-left heel strike) total net joint moments for the ankle, knee and hip. Plotted values were normalized by subject mass (N-m/kg). The total moment was measured externally and included contributions from biological muscle-tendons and orthosis artificial muscles (except for the hip in all conditions and for the ankle and knee in the without orthosis condition). Data across rows (from left to right) were for walking at 1.25 m/s overground with the orthosis unpowered (Unpowered, gray), powered under proportional myoelectric control (PM, red) and powered under proportional myoelecric control with flexor inhibition (PMFI, blue). In each panel, traces are compared to normal walking without wearing the orthosis (Without, black). Dotted vertical lines mark the stance-swing transition at ~60% of the stride cycle. Positive values indicate ankle plantar flexor, knee extensor and hip extensor moments.