Fig. 2From: TWIICE One powered exoskeleton: effect of design improvements on usability in daily life as measured by the performance in the CYBATHLON raceJoint kinematics of the hip (dashed line) and the knee (solid line), their angular velocities and accelerations, and their torque for normal gait, stairs and ramp ascent represented as a function of stride. The vertical line represents a pause in the gait cycle between the stance and swing phases, corresponding to the time needed by the pilot to move the crutches forwardBack to article page