Fig. 5
From: Effect of timing of hip extension assistance during loaded walking with a soft exosuit
a, c Average hip and knee biological joint moments of both limbs in the unpowered condition (UNPD) and in the powered conditions plotted versus gait cycle percentage. b, d Average biological knee and hip extension moment during the first half of the gait cycle (average over the shaded area in a and c). The small panel on the right corner shows the corresponding assistive profile. Early-start-early-peak (ESEP), early-start-late-peak (ESLP), late-start-early-peak (LSEP), late-start-late-peak (LSLP) in red, yellow, green, blue respectively. The braces with * represent statistically significant differences with the unpowered condition (p < 0.050)