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Fig. 5 | Journal of NeuroEngineering and Rehabilitation

Fig. 5

From: Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton

Fig. 5

Ankle moment and power profiles. The ankle moment profiles during the first 70 % of the gait cycle are depicted on the top graph, and the ankle power profiles are depicted on the bottom. Positive moment values denote ankle dorsiflexion. The figure compares the biological ankle during the no exoskeleton condition (grey solid line), the powered-off exoskeleton condition (dark blue dashes), and the active exoskeleton condition (red dots). The exoskeleton moment and power during the active condition are shown with light blue dashes and dots. The sum of the biological ankle and exoskeleton during the active condition are shown with a solid black line with dots. The standard error means are shown with light shading of the same color

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