Fig. 3

Mean (n = 8) joint angle curves for the hip, knee and ankle joints while walking in zero-force mode (mean in black, +—1 standard deviation, in gray) and minutes 1 to 5 and 20 of assisted walking across Sessions 1 to 3 (colored). Each minute of walking corresponded, on average, to 88 steps. Color-coded horizontal lines mark the period in which a 1-D statistical analysis indicated significant differences between the respective minute of assisted walking and zero-force mode kinematics. The phase between 10 and 40% of the gait cycle in which the Myosuit applies assistive forces is marked in light grey. Most of the kinematic changes occur already within the first minute of assisted walking in Session 1. In later sessions, the convergence to steady state kinematics appears to be faster