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Table 2 Unimpaired participant information

From: Usability and performance validation of an ultra-lightweight and versatile untethered robotic ankle exoskeleton

Participant

Sex

Age (years)

Mass (kg)

Height (cm)

Stance torque (Nm)

Swing torque (Nm)

Walking speed (m/s)

Trial order

P1a

F

24

50.0

160.0

17.5

2.5

1.25

Exo-Shod

P2

F

22

57.5

152.5

20.5

3.0

1.25

Shod-Exo

P3

M

26

91.6

173.0

30.0

3.0

1.25

Shod-Exo

P4

M

22

65.0

162.6

23.0

3.0

1.25

Exo-Shod

P5

F

23

45.7

155.0

16.0

2.5

1.35

Exo-Shod

P6

M

20

72.6

178.0

25.0

2.5

1.15

Shod-Exo

  1. aThis participant also completed a short exoskeleton-assisted walk on a step mill. Her typical exoskeleton torque, angular velocity, and power for inclined walking and stair ascent are shown in Fig. 5. Additional participant torque, velocity, and power curves are available in Additional file 2