Fig. 4

Integrated anteriorly directed GRFs on the paretic limb decreased with exoskeleton assistance at the majority of speeds. The paretic (hatch fill) and non-paretic (solid fill) integrated anterior GRFs (± standard error) are plotted with (blue) and without (grey) exoskeleton assistance applied as walking speed increases. To the right of the dashed line integrated GRFs are averaged at users’ comfortable OVG walking speed