Fig. 8

Average muscle activity profile over a stride (top row) and RMS of muscle activity (bottom row). The top row shows the averaged unassisted (dashed) muscle activity profile over a stride and the assisted (solid) no load (blue), light load (green) and heavy load (orange) conditions. The bottom row shows the RMS of the muscle activity with assistance for all load conditions. The RMS of the unassisted muscle activity is shown with the gray line (dashed). Muscle activity was normalized to the unassisted activity resulting in a peak value of 1 for unassisted walking at all loads