Fig. 7

Changes in biological torque. a Total, assistive torque provided by the exosuit and biological torque (total-exo) for one subject, averaged over repetitions, for all three velocities of movement (from top to bottom: 42, 84 and 126 deg/s). As the velocity of movement increases, the magnitude of the biological torque increases, mostly around the transient regions. Shaded areas indicate the standard deviation around the mean. b Average over subjects of the total, assistive and biological torques. The exosuit compensates for most of the positive (flexing) torque but introduces a negative (extending) component. c Change in biological torque, expressed as percentage of the total torque in the unpowered condition (|biological powered | /total unpowered). Translucent circles are the values for each individual subject, opaque contoured circles indicate the mean over subjects. Asterisks indicate significant difference from 0. Wearing the exosuit significantly reduces the magnitude of the torque that the wearer needs to exert to move (−59.20±5.58%, p = 9×10⁻¹⁴). Error bars show the standard error of the mean