Fig. 1

Soft exosuit components. a and b Back and side view of a participant wearing the soft exosuit. The two actuator units were mounted on an empty backpack and the exosuit was worn from the waist down. c Schematic drawing highlighting the two load paths of the soft exosuit, namely a monoarticular path assisting hip extension (green) and a multiarticular path assisting both hip flexion and ankle plantarflexion (blue). Both load paths share the waist belt (grey). Numbers correspond to the actuation and suit components in (d) and (e). d Mechanics and electronic elements composing the actuator system. Motor (1), battery module (2) and multi-wrap pulley (3). e Textiles elements composing the soft exosuit. Waist belt (5), thigh brace (6) and calf strap (7)