Data organization in Continuous-up, Continuous-down and Discrete based on example data from one participant. a Peak exosuit ankle moment over the gait cycle of Continuous-up and Continuous-down condition. The peak moment values ranged from Powered-off to Maximum (Max.) applied moment (Continuous-up) and from Max. to Powered-off (Continuous-down). b Peak exosuit ankle moment over the gait cycle of Discrete. Peak moment values at Powered-off, Low, Med., High, and Max. applied moment at the ankle. c Peak moment values and time for Continuous-up (green line) and Continuous-down (blue line). The thin line shows actual peak moments and the thick line shows curve fit of moment versus time. The order of Continuous-up and Continuous-down was randomized for each participant. d Five minutes at each moment level in Discrete in a randomized order. The thin line shows actual peak moments and the thick line shows commanded peak moment. e Metabolic rate over time for Continuous-up (blue points) and Continuous-down (green points). Points represent breaths. f Metabolic rate over time of each Discrete moment level. g Metabolic rate fitted at each peak moments level from Powered-off to Max.
h Average metabolic rate of the last 2 min at each moment level from Powered-off to Max