Fig. 6

Ankle Power Contributions. a Mean total ankle power, exoskeleton power, and biological ankle power across the three walking conditions. The exoskeleton power was calculated from ankle kinematics and force outputs recorded using the exoskeletons’ load cells. The biological power was calculated by subtracting the exoskeleton power from the total ankle power. b Average power plots of positive, negative, and net power for total ankle power, exoskeleton power, and biological ankle power. All error bars represent ±1 s.e.m. An asterisk above the plots represents a significant difference between the two powered walking conditions (P<0.05)