Fig. 1

Experimental setup. a Human subject walked on a force-instrumented treadmill while wearing a robotic exosuit that assists ankle plantarflexion. b Simplified representation of motion capture markers used for power calculations. For graphical simplicity, a single marker is used to represent the shank, and a single marker is used to represent the foot; however, in practice segmental kinematics were estimated from several markers distributed along each segment (as detailed in Methods text and depicted in Additional file 1). These markers were selected to mitigate confounds due to soft tissue motion