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Table 1 Average stride frequency with no exoskeleton, unassisted and assisted at slow, medium and fast walking speeds

From: Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds

Stride frequency (Hz)

Slow

Medium-speed

Fast

No exo.

0.82 ± 0.08

0.85 ± 0.08

0.95 ± 0.09

Unassisted

0.82 ± 0.07

0.83 ± 0.08

0.93 ± 0.10

Assisted

0.87 ± 0.07

0.87 ± 0.05

0.90 ± 0.09