Fig. 2From: Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptationChange in mean (n = 8) energy expenditure during assisted walking compared to walking in zero-force mode. Zero percent corresponds to the average energy expenditure during the two periods of walking with zero forces at the beginning and the end of the respective session. Over the period of assisted walking, energy expenditure is reduced (“Within-Session Adaptation”). This reduction is well described by a two-term exponential fit (solid lines, Session 1,2,3), and occurs faster in later sessions compared to earlier sessions (“Motor Learning”). For visual guidance, an estimate for the change in energy expenditure after extensive training (dashed line) is included. Colored blocks represent the color-coding of individual minutes as used in Fig. 3 and 5Back to article page