Figure 4From: Novel swing-assist un-motorized exoskeletons for gait trainingJoint trajectories for 100 step simulation. Joint trajectories of swing leg for 100 step simulation with optimial parameters of torsion spring – (i) θ1 vs time (ii) θ2 vs time. With 50% change in leg mass – (iii) θ1 vs time (iv) θ2 vs timeBack to article page