Figure 1
Subjects wore a custom fit orthosis on their left lower limb. The orthosis was hinged at the ankle to allow free sagittal plane rotation. Soleus EMG activation was recorded and processed to be used to control air pressure in the artificial pneumatic muscles proportionally. As air pressure increased, the artificial muscles started to develop tension and become shortened, allowing the powered exoskeleton to provide plantar flexor torque controlled by soleus muscle activation.