Fig. 3

Optimized assistance patterns. Top row: Individual and group average of the measured torque assistance profiles as a percentage of stance. Peak torque levels are represented as different shaded lines, with 0.8 Nm/kg as the darkest. Similar timing strategies were preferred across subjects. Bottom row: Torque versus ankle angle curves show a large amount of net work (represented by the area below the curves) that increases with peak torque level