Characterizing the relationship between peak assistance torque and metabolic cost reduction during running with ankle exoskeletons

Table 1 Optimal parameters

Peak torque magnitude	Onset time (% stance)	Peak time (% stance)	Off time (% stance)
0.2 Nm/kg	28.92 ± 5.56	78.25 ± 1.07	99.64 ± 0.32
0.4 Nm/kg	27.51 ± 6.68	79.51 ± 0.52	99.71 ± 0.38
0.6 Nm/kg	15.23 ± 6.59	79.89 ± 0.15	99.98 ± 0.03
0.8 Nm/kg	18.15 ± 1.97	79.75 ± 0.25	99.93 ± 0.10
All conditions	22.45 ± 7.75	79.35 ± 0.86	99.82 ± 0.26

Similar peak and off time of torque assistance were preferred across peak torque magnitudes. Onset time had the most variation across torque magnitudes and between subjects

ISSN: 1743-0003