Fig. 3From: A unilateral robotic knee exoskeleton to assess the role of natural gait assistance in hemiparetic patientsPattern generation according to the Echo-control assistive strategy based on replicating the kinematics of the unassisted leg. The knee movement during a step is stored in a five-step buffer and used to calculate the mean pattern of the unassisted knee; afterward, this averaged movement is provided as the targeted reference for the robotic exoskeleton according to the gait phase estimated for the assisted limbBack to article page