Fig. 5
From: Effects of a powered ankle-foot orthosis on perturbed standing balance
Controller inputs and outputs of a representative subject. a The ankle angle measured in the P ankle trial, compared to the ankle angle measured in the ZI and PD com trials. b The body sway angle measured in the PD com trial, compared to the body sway angle measured in the ZI and P ankle trials. c Normalized output torque of the P ankle controller. d Normalized output torque of the PD com controller. The grey boxes indicate the perturbation period. Similar results were obtained at a group level