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Fig. 4 | Journal of NeuroEngineering and Rehabilitation

Fig. 4

From: Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power

Fig. 4

Net metabolic energy cost. Net metabolic cost is depicted versus actuation timing and average positive exoskeleton power. Metabolic cost for the powered exoskeleton conditions is expressed as the reduction versus the ZeroWork condition. Repeated measures ANOVA indicated significant differences in net metabolic energy cost between conditions (P < 0.001). * indicates a statistically significant reduction versus ZeroWork and ** indicates a statistically significant reduction versus NormalWalking based on post-hoc t-tests with Šídák-Holm correction (P ≤ 0.05). The percentages above each condition are the statistically significant reductions in net metabolic cost versus the ZeroWork condition. The percentages underneath each condition (in bold) are the statistically significant reductions in net metabolic cost versus NormalWalking. The surface gradient is the result of a two-dimensional regression for which R2 is provided (P < 0.001). The black dotted line indicates the metabolic cost for NormalWalking and the black dashed line shows the ZeroWork condition with the absolute net metabolic energy cost given in numbers for both conditions

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