Fig. 1From: Characterizing the relationship between peak assistance torque and metabolic cost reduction during running with ankle exoskeletonsExperimental setup. A Exoskeleton emulator system. Exoskeleton end effectors are actuated by off-board motors via series elastic Bowden cable transmission. Respirometry data is collected by measuring the user’s oxygen consumption and carbon dioxide exhalation. B Participant running on the treadmill wearing tethered bilateral exoskeletons and respirometry maskBack to article page