Fig. 1
From: Effects of selectively assisting impaired subtasks of walking in chronic stroke survivors
Overview of the seven trials of the experimental session. Each participant took part in all trials. The order of the seven trials was randomized and each trial took 2 minutes. BASE: baseline, WS: weight shift, FC: foot clearance, SS: stability during stance. No subtask-specific assistance was applied in BASE. 20 means 20% of assistance and 80 means 80% of assistance for the respective subtask. For all other portions of the gait cycle 3% of general assistance was provided in all trials (including BASE)