Fig. 8From: Optimized hip–knee–ankle exoskeleton assistance at a range of walking speedsAverage muscle activity profile over a stride (top row) and RMS of muscle activity (bottom row). The top row shows the averaged unassisted (dashed) muscle activity profile over a stride and the assisted (solid) for slow (blue), medium-speed (green) and fast (orange) walking. Arrows indicate the muscle activity changes with assistance. The bottom row shows the RMS of the muscle activity with assistance for all three speeds. The RMS of the unassisted muscle activity is shown with the gray line (dashed). Muscle activity was normalized to the unassisted activity resulting in a peak value of 1 for unassisted walking at all speedsBack to article page