Fig. 2

Mean ensemble forces demonstrating the mechanical demands during both normal (black line) and assisted (blue line) walking conditions. a During ~ 30–70% of the walking gait cycle, an assistive force was generated by the same-sided arm and leg rope connection (shaded gray area; n = 7). This assistive force is best understood as a forward force applied to the whole body. b In turn, this caused a decrease in propulsive and an increase in braking forces generated by the leg during assisted walking as compared to normal walking (n = 8). c The vertical GRF, which is required to support and accelerate the body, remained the same during both conditions (n = 8). Note that an assistive force was generated by the right arm and leg rope connection and another assistive force by the left arm and leg rope connection, but we only illustrate the assistive force generated by the right side