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Fig. 10 | Journal of NeuroEngineering and Rehabilitation

Fig. 10

From: A unilateral robotic knee exoskeleton to assess the role of natural gait assistance in hemiparetic patients

Fig. 10

A The median phase portrait for each leg; Columns 1–4 include information for each experimental condition. Solid lines represent the assisted leg, and dashed lines represent the unassisted leg. B The similarity between the areas of the phase portrait: Panel B1 represents the similarity between both limbs under each experimental condition, and Panels B2 and B3 represent the similarity between the movement under the current experimental condition and the movement during NoExo for each leg. Across the figure, data for the same healthy subject (HS) is represented in the same color (green for HS1, purple for HS2, orange for HS3) while the brightness indicates the experimental condition (from darkest to lightest: NoExo, Free, Echo, and Pattern). Similarity decreases because of wearing the robot; however, the assistance provided by the exoskeleton actively improves similarity in all patients

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