Fig. 6
From: Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds
Optimized hip, knee and ankle torque profiles for each participant. Slow walking (blue) resulted in the smallest ankle torque for all three participants while medium-speed walking (green) and fast walking (orange) resulted in similar ankle torque magnitudes. Timing parameters were similar across speeds and participants. The knee torque profiles have two state-based periods which result in torque changes on a step-to-step basis