Fig. 5From: Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016Walking trajectory of the exoskeleton compared to unimpaired gait. The nominal exoskeleton walking trajectory commands the equilibrium position of the knee more towards extension in early stance compared to unimpaired gait. This ensures buckling occurs due to the compliance of the VSA when loaded and is not pre-programmed into the trajectory. Ground clearance of the swing leg was increased to prevent collisions of the foot with the groundBack to article page