Fig. 7From: Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loadsAverage hip, knee and ankle joint angle trajectories for each participant. Assisted (solid) and unassisted (dashed) joint angle trajectories are shown for the no-load (blue), light load (green), and heavy load (orange) conditions. Joint angle trajectories changed slightly with load typically in the direction of exoskeleton assistanceBack to article page