Fig. 5
From: Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds
Exoskeleton positive power. A Total positive exoskeleton power. The positive hip, knee and ankle power was summed across both legs. The positive power is shown for each speed and symbols represent individual participants. B Positive power at the hips, knees and ankles. The joint power was summed between the left and right legs for each joint. C The metabolic rate compared to the positive exoskeleton power. Power applied to each participant is shown with symbols (p1 \(\square\), p2 O, p3 \(\triangle\)), and the colors represent walking speeds (blue for slow walking, green for medium-speed walking, and orange for fast walking). The data was fit with a line (solid, \(Metabolic Reduction = 3.68P^+_{exo} -1.94, R^2=0.78\)) and unity was shown with a dashed line