Fig. 5

Effect of the exosuit on delay and peak velocity of movement. a Wearing the exosuit introduced a time lag between the reference trajectory and the wearer’s movement. The average delay, over subjects, is 200 ms higher than the one observed in the unpowered condition, independently of the target velocity. b Assistance from the exosuit slowed down human movement for velocities higher than 42 deg/s. This is most most probably a corollary of the limited bandwidth of the device (Additional file 1)