Fig. 15

Gait features symmetry for stroke patients. Rows A to F include different gait metrics: step length (A), step time (B), step velocity (C), single-support duration (D), stance phase duration (E), and swing time (F). Columns 1–3 represent the result for each subject; markers indicate the median value and whiskers denote the 10th–90th percentiles. Column 4 represents the symmetry index for each subject under each experimental condition; notice that symmetry indices closer to 0 indicate a higher symmetry between limbs. Across the figure, identical colors represent the same patient (P) (P1 in green, P2 in purple and P3 in orange), the brightness represents the experimental condition (from lightest to darkest: No-Exo, Free, Echo and Pattern correspondingly) and the shape of the marker represents the assessed limb (circle for the assisted limb and triangle for the unassisted leg). Markers (*) show significant differences between experimental conditions within a limb of a subject