Fig. 1
From: Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds
Experimental setup. A Exoskeleton emulator system. A participant wears the hip–knee–ankle exoskeleton emulator and walks on a split-belt treadmill. Powerful, offboard motors apply joint torques through a Bowden cable transmission. B Exoskeleton end effector. The device can assist the hips, knees and ankles. C Experimental setup. Metabolic rate and muscle activity are measured while a participant wears the exoskeleton end effector and walks on a split-belt treadmill