Fig. 4

Joint trajectories (a) and errors (b) for each subtask for all participants. Trajectories are shown for each individual separately. For the pelvis position, 0 is the center of the treadmill and a positive value means a deviation from the center towards the paretic side. Abduction and flexion angles are positive. The gait cycle starts with heel strike of the paretic leg. The grey area indicates the interval of the gait cycle within which the assistance was applied (a) and the assisted subtask (b). The black markers in a indicate the evaluation points. For the weight shift, the largest error of the errors for both evaluation points is used to evaluate performance (see also Table 2). For the other DOFs the first marker corresponds to the first plot with errors, the second marker to the second plot with errors etc. Each grey marker and connecting grey line in b show the results for one individual. The colored dots and connecting black lines show the average errors across individuals. Each black bar indicates significant differences between two conditions (\(\upalpha\) = 0.05)