Fig. 6

Walking scaling, incline and stair climbing trajectories of the VariLeg exoskeleton. The walking trajectories can be scaled in length (shown in a) and height to adjust the step. Different trajectories for walking, inclines or stairs were implemented and can be selected via the crutch or a computer wirelessly connected to the exoskeleton. The incline trajectory (b) was created by rotating the walking trajectory and prolonging the knee extension during late stance. The stairs mode (c) climbs steps one foot at a time and measures the height of the first executed step, which is performed at maximal step height