Fig. 10

Sit to Stand Torque/Angle Characteristics. Knee and ankle angle, torque, knee carriage (carr.), and ankle moment arm position during sit-to-stand and stand-to-sit experiments. The sitting phase starts when the knee flexion hits 5 degrees. The knee is flexed to its maximum of 95 degrees and desired torque is brought to zero. The knee extension assistance is then started when the knee is extended past 93 degrees. Trace represents one sit to stand to sit cycle