Fig. 11

Comparison of human joint kinematics and dynamics in three conditions: passive, transparent and without exoskeleton. The human kinematics and joint torques of the hip, knee and ankle are shown in three conditions: without exoskeleton (N) in green, the transparent exoskeleton condition (T) in red and the passive exoskeleton condition (P) in black. The top three subfigures (a to c) represent the joint angles, while the lower three subfigures (d to f) represent the joint torques, normalized with respect to the mass of each participant. Both the average and standard deviation (band of ±σ are shown in each graph. The blue bars indicate time periods with a significant difference between the passive and transparent condition of the post-hoc two-sample t-test. The corrected p-values are 0.008, <0.001, 0.007 and <0.001 for the hip angle, knee angle, hip torque and knee torque respectively