Fig. 3
From: Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds
Experimental protocol. Exoskeleton assistance was optimized for three days and validated on a fourth day for each speed. Each optimization day consisted of three, 26-minute-long generations with optional breaks in between each generation. On the validation day, we measured participant’s baseline metabolic rate as they stood quietly for 6 min (QS). Participants then walked with no exoskeleton for 6 min (No exo.), in the exoskeleton with no assistance applied for 10 min (Unasst.) and then with optimized assistance for 20 min (Asst.). The protocol was then completed in the reverse order to remove effects from ordering. Participants rested at least 3 min before each of the walking conditions and at least 5 min before quiet standing conditions