Fig. 12

Example of step data from a hemiparetic patient (P2) during the different experimental conditions. Columns 1–4 include information for each experimental condition: NoExo, Free, Echo, and Pattern correspondingly while rows A–C show the knee kinematics (A), its phase portrait (B), and the foot contact with the floor (C). Information is represented for both legs: the paretic leg is represented in orange while the unassisted leg is represented in cyan. For the assistive experimental conditions, the exoskeleton set point is also represented in brown