Fig. 7
From: Varying negative work assistance at the ankle with a soft exosuit during loaded walking
Biological joint moments. a Biological ankle moment. b Knee moment. c Estimated biological hip moment. Colored lines represent average time in conditions with different rates of negative work assistance. Lower panel shows duration and rate of negative and positive work assistance per leg in conditions with corresponding colors. Transparent lines indicate opposite leg actuation period. Black line is Powered-Off and shaded areas represent standard error. Grey vertical lines delimit double and single stance phases. Bi-colored bars (black and other color) above time series, indicate periods with significant pairwise difference versus Powered-Off from the condition with the corresponding color (p ≤ 0.05). Multi-colored bars indicate significant result of mixed-model ANOVA with the rate of negative work assistance as fixed-effect (p ≤ 0.05). Related metric plots can be found in Additional file 9