Fig. 5

Representative exoskeleton measured (blue) and prescribed (red) torque (top row), velocity (middle row), and power (bottom row) profiles (mean ± standard deviation) from a single subject (P1, Table 2) during assisted walking on a 5-degree incline (left column) and on a stair-stepping machine (right column). Mechanical power (bottom row) was calculated by multiplying measured exoskeleton torque (Nm) and angular velocity (radians per second). Torque and power were normalized by the participant’s body mass. Torque tracking error during early stance and immediately after toe-off are due to motor torque rate and speed limitations. Refer to Additional file 2 for additional participant torque, velocity, and power curves and to Additional file 3 for a short section on power consumption and electrical to mechanical power efficiency