Fig. 5

Root mean square (RMS) of the interaction force experienced by each participant during walking in LOPES II in the pelvic support (left panel) and pelvic constraint condition (right panel) plotted against the change from baseline in lateral pelvic displacement (LPD) during overground walking in the respective condition. Accompanying correlation coefficients and p-values are provided. Larger mean RMS interaction forces indicate less adaptation to the movement pattern imposed by the robot. A positive value for the change in LPD indicates that LPD had increased relative to baseline