Fig. 3

Average net paretic ankle and limb powers increased with exoskeleton assistance at all speeds. Average net paretic ankle (a), knee (b), and hip (c) power (± standard error) for the Unassisted (light colors) and Assisted (dark colors) conditions. Average net limb power (± standard error) for the paretic (hatch fill) and non-paretic (solid fill) limb with exoskeleton (blue) and without exoskeleton (grey) assistance (d). All values are calculated from subject averages over five gait cycles. To the right of the dashed line average net powers averaged at each user’s comfortable OVG speed are shown