Fig. 2
From: Can humans perceive the metabolic benefit provided by augmentative exoskeletons?
A The exoskeleton-human system (picture taken prior to the COVID-19 pandemic). Participants walked on a treadmill and experienced different changes to their metabolic rates, which were measured using indirect calorimetry. B The Dephy ExoBoot ankle exoskeleton used in the physical experiment. A brushless DC motor mounted on a rigid shank assists the user by generating torque through a belt drive transmission that applies force on a boot-mounted strut. The exoskeleton is securely attached to the user via a shank attachment that transmits the actuator’s torque to the leg