Fig. 16From: A unilateral robotic knee exoskeleton to assess the role of natural gait assistance in hemiparetic patientsExamples of the three references generated by the Echo strategy (angle, velocity, and acceleration for rows A–C) during trials with a healthy subject (column 1) or a stroke patient (column 2). Red lines represent the content of the five steps buffer, the blue line is the average step, and the green line is the smoothed average step that serves as the pattern referenceBack to article page