Fig. 5From: Robotic body weight support enables safe stair negotiation in compliance with basic locomotor principlesSurface EMG activity during stair ascent and descent under various levels of unloading. Averaged surface EMG activities over all subjects for a single gait cycle during stair ascent and descent. Different line colors correspond to investigated BWS levels and shaded area to one standard deviation from mean baseline EMG activity. Abbreviations: GMax, gluteus maximus; BF, biceps femoris; RF, rectus femoris; VL, vastus lateralis; GM, gastrocnemius medialis; TA, tibialis anteriorBack to article page