Voluntary control of wearable robotic exoskeletons by patients with paresis via neuromechanical modeling

Table 3 Range of motion (in degrees) employed during experiments

Subject	Knee angle (OUT-type)	Ankle angle (OUT-type)	Knee angle (IN-type)	Ankle angle (IN-type)
Healthy	−80 to −40	−10 to 10	−80 to −40	−10 to 10
Stroke 1	−80 to − 40	0 to 15	N/A	N/A
Stroke 2	−80 to −40	−10 to 10	− 80 to − 40	−10 to 10
SCI	−80 to − 40	− 10 to 10	−70 to −50	−10 to 10

Ranges of motion were personalized for each recruited patient to avoid muscle overstretching and testing outside of safe boundaries. Knee flexion and ankle plantar-dorsiflexion are indicated by negative angles

ISSN: 1743-0003