Cooperative ankle-exoskeleton control can reduce effort to recover balance after unexpected disturbances during walking

Table 1 Trials performed during the experiment

W. Condition	Exo				NoExo
W. Condition	NoAssistance		Assistance		NoExo
Trial	1	2	3	4	5	6
P. Magnitude	Low	High	Low	High	Low	High
	10%	16%	10%	16%	10%	16%
	U + E	U + E	U + E	U + E	U	U
P. Occurrence	Semi-randomized at two moments of the gait cycle: DSRF and SSR

Three Walking Conditions (Exo-NoAssistance, Exo-Assistance, NoExo) were assessed with two Perturbation Magnitudes (Low—10% weight, High—16% weight) each. U and E refer to the weight of the user and exoskeleton respectively. Perturbations occurred at DSRF and SSR moments during gait (Perturbation Occurrence). The order of the trials was quasi-randomized

ISSN: 1743-0003