Fig. 2
Testing Protocol and Control Scheme. a All eight subjects walked at 1.2 ms-1 with the exoskeletons on during three separate training sessions. Each session consisted of 50 minutes of walking where the first 10 minutes were unpowered, the following 30 minutes were powered, and the last 10 minutes were unpowered. Four time intervals from each session were analyzed in the analysis: minutes 7–10 of the 1st unpowered section, minutes 3–6 of the powered section, minutes 27–30 of the powered session, and minutes 7-10 of the 2nd unpowered section. b For control we processed the soleus linear envelope in real time and then conducted a maximum search on a stride by stride basis. We used these max values to calculate the mapping gain that the linear envelope was multiplied by to create the actuation control signal